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Parry benchmarks compilation #255

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merged 6 commits into from
Sep 16, 2024
Merged

Parry benchmarks compilation #255

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7e50bf0
fix benchmarks compiling
Vrixyz Sep 2, 2024
7e76ebe
add benches compilation check
Vrixyz Sep 2, 2024
d6df1e8
enable benches on ConvexPolyhedron
Vrixyz Sep 9, 2024
27fee28
remove convexhull alias from bench
Vrixyz Sep 9, 2024
e835b59
do not add libm feature in this PR
Vrixyz Sep 9, 2024
e60d618
Merge branch 'master' into parry_benchmarks_compilation
Vrixyz Sep 16, 2024
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16 changes: 13 additions & 3 deletions .github/workflows/parry-ci-build.yml
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Expand Up @@ -2,9 +2,9 @@ name: parry CI build

on:
push:
branches: [ master ]
branches: [master]
pull_request:
branches: [ master ]
branches: [master]

env:
CARGO_TERM_COLOR: always
Expand Down Expand Up @@ -74,6 +74,16 @@ jobs:
- name: install stable Rust
uses: dtolnay/rust-toolchain@master
with:
toolchain: stable
toolchain: stable
- name: cargo doc
run: cargo doc --workspace --features bytemuck-serialize,serde-serialize,rkyv-serialize,parallel --no-deps --document-private-items
check-benchmarks:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
- name: Install nightly Rust
uses: dtolnay/rust-toolchain@master
with:
toolchain: nightly
- name: check benchmarks
run: cargo +nightly check --benches
2 changes: 2 additions & 0 deletions crates/parry3d/Cargo.toml
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Expand Up @@ -89,6 +89,8 @@ oorandom = "11"
ptree = "0.4.0"
rand = { version = "0.8" }
macroquad = "0.4.12"
nalgebra = { version = "0.33", default-features = false, features = ["rand"] }
rand_isaac = "0.3"

[package.metadata.docs.rs]
rustdoc-args = ["-Zunstable-options", "--generate-link-to-definition"]
Expand Down
6 changes: 3 additions & 3 deletions crates/parry3d/benches/bounding_volume/mod.rs
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Expand Up @@ -3,7 +3,7 @@ use na::Isometry3;
use parry3d::bounding_volume::BoundingVolume;
use parry3d::bounding_volume::{Aabb, BoundingSphere};
use parry3d::shape::{
Ball, Capsule, Cone, ConvexHull, Cuboid, Cylinder, Segment, TriMesh, Triangle,
Ball, Capsule, Cone, ConvexPolyhedron, Cuboid, Cylinder, Segment, TriMesh, Triangle,
};
use rand::SeedableRng;
use rand_isaac::IsaacRng;
Expand Down Expand Up @@ -135,13 +135,13 @@ bench_method!(
bench_method!(
bench_convex_aabb,
aabb: Aabb,
c: ConvexHull,
c: ConvexPolyhedron,
m: Isometry3<f32>
);
bench_method!(
bench_convex_bounding_sphere,
bounding_sphere: BoundingSphere,
c: ConvexHull,
c: ConvexPolyhedron,
m: Isometry3<f32>
);

Expand Down
23 changes: 13 additions & 10 deletions crates/parry3d/benches/common/default_gen.rs
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@@ -1,11 +1,11 @@
use na::{
self, Isometry2, Isometry3, Matrix2, Matrix3, Matrix4, Point2, Point3, Point4, RealField,
Vector2, Vector3, Vector4,
self, Isometry2, Isometry3, Matrix2, Matrix3, Matrix4, Point2, Point3, Point4, Vector2,
Vector3, Vector4,
};
use parry3d::bounding_volume::{Aabb, BoundingSphere};
use parry3d::math::{Point, Real, Vector};
use parry3d::query::Ray;
use parry3d::shape::{Ball, Capsule, Cone, ConvexHull, Cuboid, Cylinder, Segment, Triangle};
use parry3d::shape::{Ball, Capsule, Cone, ConvexPolyhedron, Cuboid, Cylinder, Segment, Triangle};
use rand::distributions::{Distribution, Standard};
use rand::Rng;

Expand Down Expand Up @@ -76,7 +76,11 @@ where
Standard: Distribution<Real>,
{
fn generate<R: Rng>(rng: &mut R) -> Capsule {
Capsule::new(rng.gen::<Real>().abs(), rng.gen::<Real>().abs())
Capsule::new(
rng.gen::<Point<Real>>(),
rng.gen::<Point<Real>>(),
rng.gen::<Real>().abs(),
)
}
}

Expand Down Expand Up @@ -116,16 +120,15 @@ where
}
}

impl DefaultGen for ConvexHull
impl DefaultGen for ConvexPolyhedron
where
Standard: Distribution<Point<Real>>,
Standard: Distribution<Real>,
{
fn generate<R: Rng>(rng: &mut R) -> ConvexHull {
fn generate<R: Rng>(rng: &mut R) -> ConvexPolyhedron {
// It is recommended to have at most 100 points.
// Otherwise, a smarter structure like the DK hierarchy would be needed.
// let pts: Vec<_> = (0..100).map(|_| rng.gen()).collect();
// ConvexHull::try_from_points(&pts).unwrap()
unimplemented!()
let pts: Vec<_> = (0..100).map(|_| rng.gen()).collect();
ConvexPolyhedron::from_convex_hull(&pts).unwrap()
}
}

Expand Down
9 changes: 3 additions & 6 deletions crates/parry3d/benches/common/generators.rs
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@@ -1,13 +1,10 @@
use na::{Point2, Point3};
use na::Point3;
use parry3d::shape::TriMesh;
use rand::Rng;

pub fn generate_trimesh_around_origin<R: Rng>(rng: &mut R) -> TriMesh {
let pts = (0..3000).map(|_| rng.gen::<Point3<f32>>() * 3.0).collect();
let uvs = (0..3000).map(|_| rng.gen::<Point2<f32>>() * 3.0).collect();
let indices = (0..1000)
.map(|i| Point3::new(i * 3, i * 3 + 1, i * 3 + 2))
.collect();
let indices = (0..1000).map(|i| [i * 3, i * 3 + 1, i * 3 + 2]).collect();

TriMesh::new(pts, indices, Some(uvs)).unwrap()
TriMesh::new(pts, indices).unwrap()
}
2 changes: 1 addition & 1 deletion crates/parry3d/benches/common/macros.rs
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Expand Up @@ -72,7 +72,7 @@ macro_rules! bench_method_gen (

unsafe {
let val: $tres = test::black_box($arg.get_unchecked(i).$method($(unref($args.get_unchecked(i)),)*));
drop(val);
let _ = val;
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Why was that change needed?

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using drop results in a warning:

warning: calls to `std::mem::drop` with a value that implements `Copy` does nothing
   --> crates/parry3d/benches/bounding_volume/../common/macros.rs:75:21

Aabb and BoundingSphere are concerned. I don´t think this is an opportunity to make benchmarks more accurate (if we're unexpectedly copying).

Actually I'm not exactly sure why this drop is necessary. As we're in an unsafe call, I guess it might be useful, but not really used in current usage. It doesn´t hurt being here I guess.

}
})
}
Expand Down
15 changes: 10 additions & 5 deletions crates/parry3d/benches/query/contacts.rs
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Expand Up @@ -13,44 +13,49 @@ mod macros;
bench_free_fn!(
bench_ball_against_ball,
query::contact,
pos12: Isometry3<f32>,
pos1: Isometry3<f32>,
b1: Ball,
pos2: Isometry3<f32>,
b2: Ball,
prediction: f32
);

bench_free_fn!(
bench_cuboid_against_cuboid,
query::contact,
pos12: Isometry3<f32>,
pos1: Isometry3<f32>,
b1: Cuboid,
pos2: Isometry3<f32>,
b2: Cuboid,
prediction: f32
);

bench_free_fn!(
bench_capsule_against_capsule,
query::contact,
pos12: Isometry3<f32>,
pos1: Isometry3<f32>,
b1: Capsule,
pos2: Isometry3<f32>,
b2: Capsule,
prediction: f32
);

bench_free_fn!(
bench_cone_against_cone,
query::contact,
pos12: Isometry3<f32>,
pos1: Isometry3<f32>,
b1: Cone,
pos2: Isometry3<f32>,
b2: Cone,
prediction: f32
);

bench_free_fn!(
bench_cylinder_against_cylinder,
query::contact,
pos12: Isometry3<f32>,
pos1: Isometry3<f32>,
b1: Cylinder,
pos2: Isometry3<f32>,
b2: Cylinder,
prediction: f32
);
40 changes: 20 additions & 20 deletions crates/parry3d/benches/query/ray.rs
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Expand Up @@ -3,7 +3,7 @@ use na::Isometry3;
use parry3d::bounding_volume::{Aabb, BoundingSphere};
use parry3d::query::{Ray, RayCast};
use parry3d::shape::{
Ball, Capsule, Cone, ConvexHull, Cuboid, Cylinder, Segment, TriMesh, Triangle,
Ball, Capsule, Cone, ConvexPolyhedron, Cuboid, Cylinder, Segment, TriMesh, Triangle,
};
use rand::SeedableRng;
use rand_isaac::IsaacRng;
Expand Down Expand Up @@ -85,8 +85,8 @@ bench_method!(
);

bench_method!(
bench_ray_against_ball_with_normal_uv,
cast_ray_and_get_normal_and_uv,
bench_ray_against_ball_with_normal,
cast_ray_and_get_normal,
b: Ball,
pos: Isometry3<f32>,
ray: Ray,
Expand All @@ -95,8 +95,8 @@ bench_method!(
);

bench_method!(
bench_ray_against_cuboid_with_normal_uv,
cast_ray_and_get_normal_and_uv,
bench_ray_against_cuboid_with_normal,
cast_ray_and_get_normal,
c: Cuboid,
pos: Isometry3<f32>,
ray: Ray,
Expand All @@ -105,8 +105,8 @@ bench_method!(
);

bench_method!(
bench_ray_against_capsule_with_normal_uv,
cast_ray_and_get_normal_and_uv,
bench_ray_against_capsule_with_normal,
cast_ray_and_get_normal,
c: Capsule,
pos: Isometry3<f32>,
ray: Ray,
Expand All @@ -115,8 +115,8 @@ bench_method!(
);

bench_method!(
bench_ray_against_cone_with_normal_uv,
cast_ray_and_get_normal_and_uv,
bench_ray_against_cone_with_normal,
cast_ray_and_get_normal,
c: Cone,
pos: Isometry3<f32>,
ray: Ray,
Expand All @@ -125,8 +125,8 @@ bench_method!(
);

bench_method!(
bench_ray_against_cylinder_with_normal_uv,
cast_ray_and_get_normal_and_uv,
bench_ray_against_cylinder_with_normal,
cast_ray_and_get_normal,
c: Cylinder,
pos: Isometry3<f32>,
ray: Ray,
Expand All @@ -135,8 +135,8 @@ bench_method!(
);

bench_method!(
bench_ray_against_segment_with_normal_uv,
cast_ray_and_get_normal_and_uv,
bench_ray_against_segment_with_normal,
cast_ray_and_get_normal,
c: Segment,
pos: Isometry3<f32>,
ray: Ray,
Expand All @@ -145,8 +145,8 @@ bench_method!(
);

bench_method!(
bench_ray_against_triangle_with_normal_uv,
cast_ray_and_get_normal_and_uv,
bench_ray_against_triangle_with_normal,
cast_ray_and_get_normal,
c: Triangle,
pos: Isometry3<f32>,
ray: Ray,
Expand All @@ -155,18 +155,18 @@ bench_method!(
);

bench_method!(
bench_ray_against_convex_with_normal_uv,
cast_ray_and_get_normal_and_uv,
c: ConvexHull,
bench_ray_against_convex_with_normal,
cast_ray_and_get_normal,
c: ConvexPolyhedron,
pos: Isometry3<f32>,
ray: Ray,
max_time_of_impact: f32,
solid: bool
);

bench_method_gen!(
bench_ray_against_trimesh_with_normal_uv,
cast_ray_and_get_normal_and_uv,
bench_ray_against_trimesh_with_normal,
cast_ray_and_get_normal,
m: TriMesh = generate_trimesh_around_origin,
pos: Isometry3<f32> = generate,
ray: Ray = generate,
Expand Down
7 changes: 4 additions & 3 deletions crates/parry3d/benches/support_map/mod.rs
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
use crate::common::{generate, unref};
use na::{Isometry3, Vector3};
use parry3d::shape::SupportMap;
use parry3d::shape::{Ball, Capsule, Cone, ConvexHull, Cuboid, Cylinder, Segment, Triangle};
use parry3d::shape::{Ball, Capsule, Cone, Cuboid, Cylinder, Segment, Triangle};
use parry3d::shape::{ConvexPolyhedron, SupportMap};
use rand::SeedableRng;
use rand_isaac::IsaacRng;
use test::Bencher;
Expand Down Expand Up @@ -59,10 +59,11 @@ bench_method!(
m: Isometry3<f32>,
dir: Vector3<f32>
);

bench_method!(
bench_convex_support_map,
support_point,
c: ConvexHull,
c: ConvexPolyhedron,
m: Isometry3<f32>,
dir: Vector3<f32>
);