feat: add some additional perf counters

src/counters/mod.rs

@@ -182,6 +182,12 @@ measure_method!(
     stages.solver_time
 );
 measure_method!(ccd_started, ccd_completed, ccd_time, stages.ccd_time);
+measure_method!(
+    query_pipeline_update_started,
+    query_pipeline_update_completed,
+    query_pipeline_update_time,
+    stages.query_pipeline_time
+);
 
 measure_method!(
     assembly_started,
@@ -201,12 +207,6 @@ measure_method!(
     velocity_update_time,
     solver.velocity_update_time
 );
-measure_method!(
-    position_resolution_started,
-    position_resolution_completed,
-    position_resolution_time,
-    solver.position_resolution_time
-);
 measure_method!(
     broad_phase_started,
     broad_phase_completed,

src/counters/solver_counters.rs

@@ -14,10 +14,8 @@ pub struct SolverCounters {
     pub velocity_assembly_time: Timer,
     /// Time spent for the update of the velocity of the bodies.
     pub velocity_update_time: Timer,
-    /// Time spent for the assembly of all the position constraints.
+    /// Time spent to write force back to user-accessible data.
-    pub position_assembly_time: Timer,
+    pub velocity_writeback_time: Timer,
-    /// Time spent for the update of the position of the bodies.
-    pub position_resolution_time: Timer,
 }
 
 impl SolverCounters {
@@ -29,8 +27,7 @@ impl SolverCounters {
             velocity_assembly_time: Timer::new(),
             velocity_resolution_time: Timer::new(),
             velocity_update_time: Timer::new(),
-            position_assembly_time: Timer::new(),
+            velocity_writeback_time: Timer::new(),
-            position_resolution_time: Timer::new(),
         }
     }
 
@@ -41,8 +38,7 @@ impl SolverCounters {
         self.velocity_resolution_time.reset();
         self.velocity_assembly_time.reset();
         self.velocity_update_time.reset();
-        self.position_assembly_time.reset();
+        self.velocity_writeback_time.reset();
-        self.position_resolution_time.reset();
     }
 }
 
@@ -57,11 +53,10 @@ impl Display for SolverCounters {
             self.velocity_resolution_time
         )?;
         writeln!(f, "Velocity update time: {}", self.velocity_update_time)?;
-        writeln!(f, "Position assembly time: {}", self.position_assembly_time)?;
         writeln!(
             f,
-            "Position resolution time: {}",
+            "Velocity writeback time: {}",
-            self.position_resolution_time
+            self.velocity_writeback_time
         )
     }
 }

src/counters/stages_counters.rs

@@ -14,6 +14,10 @@ pub struct StagesCounters {
     pub solver_time: Timer,
     /// Total time spent for CCD and CCD resolution.
     pub ccd_time: Timer,
+    /// Total time spent updating the query pipeline (if provided to `PhysicsPipeline::step`).
+    pub query_pipeline_time: Timer,
+    /// Total time spent propagating user changes.
+    pub user_changes: Timer,
 }
 
 impl StagesCounters {
@@ -25,6 +29,8 @@ impl StagesCounters {
             island_construction_time: Timer::new(),
             solver_time: Timer::new(),
             ccd_time: Timer::new(),
+            query_pipeline_time: Timer::new(),
+            user_changes: Timer::new(),
         }
     }
 
@@ -35,6 +41,8 @@ impl StagesCounters {
         self.island_construction_time.reset();
         self.solver_time.reset();
         self.ccd_time.reset();
+        self.query_pipeline_time.reset();
+        self.user_changes.reset();
     }
 }
 
@@ -52,6 +60,8 @@ impl Display for StagesCounters {
             self.island_construction_time
         )?;
         writeln!(f, "Solver time: {}", self.solver_time)?;
-        writeln!(f, "CCD time: {}", self.ccd_time)
+        writeln!(f, "CCD time: {}", self.ccd_time)?;
+        writeln!(f, "Query pipeline time: {}", self.query_pipeline_time)?;
+        writeln!(f, "User changes time: {}", self.user_changes)
     }
 }

src/dynamics/solver/island_solver.rs

@@ -41,7 +41,7 @@ impl IslandSolver {
         joint_indices: &[JointIndex],
         multibodies: &mut MultibodyJointSet,
     ) {
-        counters.solver.velocity_resolution_time.resume();
+        counters.solver.velocity_assembly_time.resume();
         let num_solver_iterations = base_params.num_solver_iterations.get()
             + islands.active_island_additional_solver_iterations(island_id);
 
@@ -76,8 +76,10 @@ impl IslandSolver {
             &mut self.contact_constraints,
             &mut self.joint_constraints,
         );
+        counters.solver.velocity_assembly_time.pause();
 
         // SOLVE
+        counters.solver.velocity_resolution_time.resume();
         self.velocity_solver.solve_constraints(
             &params,
             num_solver_iterations,
@@ -86,8 +88,10 @@ impl IslandSolver {
             &mut self.contact_constraints,
             &mut self.joint_constraints,
         );
+        counters.solver.velocity_resolution_time.pause();
 
         // WRITEBACK
+        counters.solver.velocity_writeback_time.resume();
         self.joint_constraints.writeback_impulses(impulse_joints);
         self.contact_constraints.writeback_impulses(manifolds);
         self.velocity_solver.writeback_bodies(
@@ -98,6 +102,6 @@ impl IslandSolver {
             bodies,
             multibodies,
         );
-        counters.solver.velocity_resolution_time.pause();
+        counters.solver.velocity_writeback_time.pause();
     }
 }

src/pipeline/physics_pipeline.rs

@@ -142,6 +142,7 @@ impl PhysicsPipeline {
         );
         narrow_phase.compute_contacts(
             integration_parameters.prediction_distance,
+            integration_parameters.dt,
             bodies,
             colliders,
             impulse_joints,
@@ -178,7 +179,6 @@ impl PhysicsPipeline {
             multibody_joints,
             integration_parameters.min_island_size,
         );
-        self.counters.stages.island_construction_time.pause();
 
         if self.manifold_indices.len() < islands.num_islands() {
             self.manifold_indices
@@ -203,6 +203,7 @@ impl PhysicsPipeline {
             bodies,
             &mut self.joint_constraint_indices,
         );
+        self.counters.stages.island_construction_time.pause();
 
         self.counters.stages.update_time.resume();
         for handle in islands.active_dynamic_bodies() {
@@ -421,6 +422,7 @@ impl PhysicsPipeline {
         self.counters.step_started();
 
         // Apply some of delayed wake-ups.
+        self.counters.stages.user_changes.start();
         for handle in impulse_joints
             .to_wake_up
             .drain(..)
@@ -459,6 +461,7 @@ impl PhysicsPipeline {
                 .copied()
                 .filter(|h| colliders.get(*h).map(|c| !c.is_enabled()).unwrap_or(false)),
         );
+        self.counters.stages.user_changes.pause();
 
         // TODO: do this only on user-change.
         // TODO: do we want some kind of automatic inverse kinematics?
@@ -486,12 +489,16 @@ impl PhysicsPipeline {
         );
 
         if let Some(queries) = query_pipeline.as_deref_mut() {
+            self.counters.stages.query_pipeline_time.start();
             queries.update_incremental(colliders, &modified_colliders, &removed_colliders, false);
+            self.counters.stages.query_pipeline_time.pause();
         }
 
+        self.counters.stages.user_changes.resume();
         self.clear_modified_colliders(colliders, &mut modified_colliders);
         self.clear_modified_bodies(bodies, &mut modified_bodies);
         removed_colliders.clear();
+        self.counters.stages.user_changes.pause();
 
         let mut remaining_time = integration_parameters.dt;
         let mut integration_parameters = *integration_parameters;
@@ -508,7 +515,7 @@ impl PhysicsPipeline {
             // the timestep into multiple intervals. First, estimate the
             // size of the time slice we will integrate for this substep.
             //
-            // Note that we must do this now, before the constrains resolution
+            // Note that we must do this now, before the constraints resolution
             // because we need to use the correct timestep length for the
             // integration of external forces.
             //
@@ -599,7 +606,9 @@ impl PhysicsPipeline {
                 }
             }
 
+            self.counters.stages.update_time.resume();
             self.advance_to_final_positions(islands, bodies, colliders, &mut modified_colliders);
+            self.counters.stages.update_time.pause();
 
             self.detect_collisions(
                 &integration_parameters,
@@ -618,12 +627,14 @@ impl PhysicsPipeline {
             );
 
             if let Some(queries) = query_pipeline.as_deref_mut() {
+                self.counters.stages.query_pipeline_time.resume();
                 queries.update_incremental(
                     colliders,
                     &modified_colliders,
                     &[],
                     remaining_substeps == 0,
                 );
+                self.counters.stages.query_pipeline_time.pause();
             }
 
             self.clear_modified_colliders(colliders, &mut modified_colliders);
@@ -635,10 +646,12 @@ impl PhysicsPipeline {
         // TODO: avoid updating the world mass properties twice (here, and
         //       at the beginning of the next timestep) for bodies that were
         //       not modified by the user in the mean time.
+        self.counters.stages.update_time.resume();
         for handle in islands.active_dynamic_bodies() {
             let rb = bodies.index_mut_internal(*handle);
             rb.mprops.update_world_mass_properties(&rb.pos.position);
         }
+        self.counters.stages.update_time.pause();
 
         self.counters.step_completed();
     }

src_testbed/ui.rs

@@ -233,14 +233,15 @@ Solver: {:.2}ms
 |_ Velocity assembly: {:.2}ms
     Velocity resolution: {:.2}ms
     Velocity integration: {:.2}ms
-   Position assembly: {:.2}ms
+    Writeback: {:.2}ms
-   Position resolution: {:.2}ms
 CCD: {:.2}ms
 |_ # of substeps: {}
     TOI computation: {:.2}ms
     Broad-phase: {:.2}ms
     Narrow-phase: {:.2}ms
-   Solver: {:.2}ms"#,
+    Solver: {:.2}ms
+Query pipeline: {:.2}ms
+User changes: {:.2}ms"#,
         counters.step_time(),
         counters.collision_detection_time(),
         counters.broad_phase_time(),
@@ -250,14 +251,15 @@ CCD: {:.2}ms
         counters.solver.velocity_assembly_time.time(),
         counters.velocity_resolution_time(),
         counters.solver.velocity_update_time.time(),
-        counters.solver.position_assembly_time.time(),
+        counters.solver.velocity_writeback_time.time(),
-        counters.position_resolution_time(),
         counters.ccd_time(),
         counters.ccd.num_substeps,
         counters.ccd.toi_computation_time.time(),
         counters.ccd.broad_phase_time.time(),
         counters.ccd.narrow_phase_time.time(),
         counters.ccd.solver_time.time(),
+        counters.query_pipeline_update_time(),
+        counters.stages.user_changes.time(),
     )
 }