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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
5 changes: 5 additions & 0 deletions crates/parry3d/Cargo.toml
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Expand Up @@ -89,6 +89,11 @@ oorandom = "11"
ptree = "0.4.0"
rand = { version = "0.8" }
macroquad = "0.4.12"
nalgebra = { version = "0.33", default-features = false, features = [
"libm",
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"rand",
] }
rand_isaac = "0.3"

[package.metadata.docs.rs]
rustdoc-args = ["-Zunstable-options", "--generate-link-to-definition"]
Expand Down
7 changes: 7 additions & 0 deletions crates/parry3d/benches/all.rs
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@@ -1,6 +1,8 @@
#![feature(test)]
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#![allow(unused_macros)]

use parry3d::math::{Point, Real};

extern crate nalgebra as na;
extern crate parry3d;
extern crate rand;
Expand All @@ -10,3 +12,8 @@ mod bounding_volume;
mod common;
mod query;
mod support_map;

#[cfg(feature = "dim2")]
type ConvexHull = Vec<Point<Real>>;
#[cfg(feature = "dim3")]
type ConvexHull = (Vec<Point<Real>>, Vec<[u32; 3]>);
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Suggested change
#[cfg(feature = "dim2")]
type ConvexHull = Vec<Point<Real>>;
#[cfg(feature = "dim3")]
type ConvexHull = (Vec<Point<Real>>, Vec<[u32; 3]>);

7 changes: 3 additions & 4 deletions crates/parry3d/benches/bounding_volume/mod.rs
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Expand Up @@ -2,9 +2,7 @@ use crate::common::{generate, generate_trimesh_around_origin, unref};
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,
};
use parry3d::shape::{Ball, Capsule, Cone, Cuboid, Cylinder, Segment, TriMesh, Triangle};
use rand::SeedableRng;
use rand_isaac::IsaacRng;
use test::Bencher;
Expand Down Expand Up @@ -132,6 +130,7 @@ bench_method!(
m: Isometry3<f32>
);

/*
bench_method!(
bench_convex_aabb,
aabb: Aabb,
Expand All @@ -143,7 +142,7 @@ bench_method!(
bounding_sphere: BoundingSphere,
c: ConvexHull,
m: Isometry3<f32>
);
);*/
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@Vrixyz Vrixyz Sep 2, 2024 •
edited
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ConvexHull is no longer a type as iitself, but rather an alias to Vec<Point<Real>>, I think it would have value to be its own type, but slightly out of scope for this PR.

@sebcrozet I'd appreciate instructions as how to proceed:

Should I straight up remove that code, or keep it in and create a tracking issue (+ comment) ?

Then, should I either:

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The ConvexHull shpe type has been renamed ConvexPolyhedron in 3D and ConvexPolygon in 2D.


bench_method_gen!(
bench_mesh_aabb,
Expand Down
14 changes: 10 additions & 4 deletions crates/parry3d/benches/common/default_gen.rs
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@@ -1,14 +1,16 @@
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, Cuboid, Cylinder, Segment, Triangle};
use rand::distributions::{Distribution, Standard};
use rand::Rng;

use crate::ConvexHull;

pub trait DefaultGen {
fn generate<R: Rng>(rng: &mut R) -> Self;
}
Expand Down Expand Up @@ -76,7 +78,11 @@ 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
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))
TriMesh::new(pts, indices)
}
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
);
42 changes: 21 additions & 21 deletions crates/parry3d/benches/query/ray.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -2,9 +2,7 @@ use crate::common::{generate, generate_trimesh_around_origin, unref};
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,
};
use parry3d::shape::{Ball, Capsule, Cone, Cuboid, Cylinder, Segment, TriMesh, Triangle};
use rand::SeedableRng;
use rand_isaac::IsaacRng;
use test::Bencher;
Expand Down Expand Up @@ -85,8 +83,8 @@ 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 +93,8 @@ 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 +103,8 @@ 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 +113,8 @@ 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 +123,8 @@ 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 +133,8 @@ 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 @@ -145,28 +143,30 @@ 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,
max_time_of_impact: f32,
solid: bool
);

/*
bench_method!(
bench_ray_against_convex_with_normal_uv,
cast_ray_and_get_normal_and_uv,
bench_ray_against_convex_with_normal,
cast_ray_and_get_normal,
c: ConvexHull,
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
4 changes: 3 additions & 1 deletion 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 rand::SeedableRng;
use rand_isaac::IsaacRng;
use test::Bencher;
Expand Down Expand Up @@ -59,10 +59,12 @@ bench_method!(
m: Isometry3<f32>,
dir: Vector3<f32>
);
/*
bench_method!(
bench_convex_support_map,
support_point,
c: ConvexHull,
m: Isometry3<f32>,
dir: Vector3<f32>
);
*/
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