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617 query pipeline memory #4

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9ff6c26
memory increase reproduction, outside of testbed
Vrixyz Jan 23, 2025
d61344b
run data, to discuss in PR.
Vrixyz Jan 23, 2025
c0cc02e
more data printed
Vrixyz Jan 23, 2025
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154 changes: 154 additions & 0 deletions examples3d/617_query_pipeline_memory.rs
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Original file line number Diff line number Diff line change
@@ -0,0 +1,154 @@
use nalgebra::Vector3;
use rand::thread_rng;
use rand::Rng;
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
use rapier_testbed3d::TestbedApp;
use std::collections::VecDeque;
use std::error::Error;
use std::io::Write;
use std::path::PathBuf;
use tracing_log::LogTracer;
use tracing_subscriber::filter::FromEnvError;
use tracing_subscriber::filter::ParseError;
use tracing_subscriber::layer::SubscriberExt;
use tracing_subscriber::registry::Registry;
use tracing_subscriber::EnvFilter;

pub fn main() {
init_tracing();
let mut colliders = ColliderSet::new();
let mut impulse_joints = ImpulseJointSet::new();
let mut multibody_joints = MultibodyJointSet::new();
let mut pipeline = PhysicsPipeline::new();
let mut bf = BroadPhaseMultiSap::new();
let mut nf = NarrowPhase::new();
let mut islands = IslandManager::new();
let mut query_pipeline = QueryPipeline::new();
let mut ccd_solver = CCDSolver::new();

let mut bodies = RigidBodySet::new();

let mut rng = thread_rng();
let mut handles = VecDeque::new();

for i in 0..8 {
pipeline.step(
&Vector3::new(0.0, -9.81, 0.0),
&IntegrationParameters::default(),
&mut islands,
&mut bf,
&mut nf,
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
&mut ccd_solver,
Some(&mut query_pipeline),
&(),
&(),
);

if i % 100 == 0 || true {
//assert!(bodies.len() <= 10);
//assert!(colliders.len() <= 10);
let incremental_bytes = bincode::serialized_size(&query_pipeline).unwrap();

let mut new_qp = QueryPipeline::new();
new_qp.update(&colliders);
let new_bytes = bincode::serialized_size(&new_qp).unwrap();
let new_bytes = bincode::serialized_size(&new_qp.qbvh.raw_nodes()).unwrap();

//println!("{i}, {incremental_bytes}, {new_bytes}");
/*
let incremental_bytes =
bincode::serialized_size(&query_pipeline.qbvh.raw_nodes()).unwrap();
println!("{i}, {incremental_bytes}, {new_bytes}");
*/
println!(
"iteration:{i} \
raw nodes size (incremental): {} \
raw nodes size (fresh): {} \
nb bodies: {}",
query_pipeline.qbvh.raw_nodes().len(),
new_qp.qbvh.raw_nodes().len(),
bodies.len()
);
let prefix = PathBuf::from(format!(
"./data_{}/",
std::time::SystemTime::now()
.duration_since(std::time::UNIX_EPOCH)
.unwrap()
.as_secs(),
));
std::fs::create_dir_all(prefix.clone()).unwrap();
let file_qbvh = prefix.join(format!("qbvh_{i}.ron"));
let mut file_qbvh = std::fs::File::create(file_qbvh).unwrap();
file_qbvh
.write_fmt(format_args!("{:#?}", query_pipeline.qbvh))
.unwrap();
}

if i % 2 == 0 {
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![
rng.gen_range(0.0..100.0),
rng.gen_range(0.0..100.0),
rng.gen_range(0.0..100.0)
]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(1.0, 1.0, 1.0);
colliders.insert_with_parent(collider, handle, &mut bodies);

handles.push_back(handle);
} else {
let remove = handles.pop_front().unwrap();
bodies.remove(
remove,
&mut islands,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
true,
);
}
}
}

/*
/// Global allocator for tracy to support memory profiling.
#[global_allocator]
static GLOBAL: tracy_client::ProfiledAllocator<std::alloc::System> =
tracy_client::ProfiledAllocator::new(std::alloc::System, 100);
*/
pub fn init_tracing() {
// While not testing with tracy or tracing, for example through bytehound, it's best to return here to avoid useless noise.
return;

let default_filter = "WARN";
let filter_layer = EnvFilter::try_from_default_env()
.or_else(|from_env_error| {
_ = from_env_error
.source()
.and_then(|source| source.downcast_ref::<ParseError>())
.map(|parse_err| {
// we cannot use the `error!` macro here because the logger is not ready yet.
eprintln!("LogPlugin failed to parse filter from env: {}", parse_err);
});

Ok::<EnvFilter, FromEnvError>(EnvFilter::builder().parse_lossy(&default_filter))
})
.unwrap();
let subscriber = Registry::default();
let subscriber = subscriber.with(filter_layer);

let tracy_layer = tracing_tracy::TracyLayer::default();
// note: the implementation of `Default` reads from the env var NO_COLOR
// to decide whether to use ANSI color codes, which is common convention
// https://no-color.org/
let fmt_layer = tracing_subscriber::fmt::Layer::default().with_writer(std::io::stderr);
let subscriber = subscriber.with(fmt_layer);
let subscriber = subscriber.with(tracy_layer);

assert!(LogTracer::init().is_ok());
assert!(tracing::subscriber::set_global_default(subscriber).is_ok());
}
10 changes: 10 additions & 0 deletions examples3d/Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,11 @@ wasm-bindgen = "0.2"
obj-rs = { version = "0.7", default-features = false }
serde = "1"
bincode = "1"
tracy-client = "0.18"
tracing = "0.1"
tracing-tracy = "0.11"
tracing-log = "0.2"
tracing-subscriber = "0.3"

[dependencies.rapier_testbed3d]
path = "../crates/rapier_testbed3d"
Expand All @@ -40,6 +45,11 @@ path = "./all_examples3.rs"
name = "harness_capsules3"
path = "./harness_capsules3.rs"


[[bin]]
name = "617_query_pipeline_memory"
path = "./617_query_pipeline_memory.rs"

#[lib]
#crate-type = ["cdylib", "rlib"]
#path = "./all_examples3_wasm.rs"
18 changes: 18 additions & 0 deletions examples3d/data_1737642611/qbvh_0.ron
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Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@
Qbvh {
root_aabb: Aabb {
mins: [
3.4028235e38,
3.4028235e38,
3.4028235e38,
],
maxs: [
-3.4028235e38,
-3.4028235e38,
-3.4028235e38,
],
},
nodes: [],
dirty_nodes: [],
free_list: [],
proxies: [],
}
170 changes: 170 additions & 0 deletions examples3d/data_1737642611/qbvh_1.ron
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Original file line number Diff line number Diff line change
@@ -0,0 +1,170 @@
Qbvh {
root_aabb: Aabb {
mins: [
95.86341,
87.20737,
12.661647,
],
maxs: [
97.86341,
89.20737,
14.661647,
],
},
nodes: [
QbvhNode {
simd_aabb: SimdAabb {
mins: [
AutoSimd(
[
95.86341,
3.4028235e38,
3.4028235e38,
3.4028235e38,
],
),
AutoSimd(
[
87.20737,
3.4028235e38,
3.4028235e38,
3.4028235e38,
],
),
AutoSimd(
[
12.661647,
3.4028235e38,
3.4028235e38,
3.4028235e38,
],
),
],
maxs: [
AutoSimd(
[
97.86341,
-3.4028235e38,
-3.4028235e38,
-3.4028235e38,
],
),
AutoSimd(
[
89.20737,
-3.4028235e38,
-3.4028235e38,
-3.4028235e38,
],
),
AutoSimd(
[
14.661647,
-3.4028235e38,
-3.4028235e38,
-3.4028235e38,
],
),
],
},
children: [
1,
4294967295,
4294967295,
4294967295,
],
parent: NodeIndex {
index: 4294967295,
lane: 0,
},
flags: QbvhNodeFlags(
0,
),
},
QbvhNode {
simd_aabb: SimdAabb {
mins: [
AutoSimd(
[
95.86341,
3.4028235e38,
3.4028235e38,
3.4028235e38,
],
),
AutoSimd(
[
87.20737,
3.4028235e38,
3.4028235e38,
3.4028235e38,
],
),
AutoSimd(
[
12.661647,
3.4028235e38,
3.4028235e38,
3.4028235e38,
],
),
],
maxs: [
AutoSimd(
[
97.86341,
-3.4028235e38,
-3.4028235e38,
-3.4028235e38,
],
),
AutoSimd(
[
89.20737,
-3.4028235e38,
-3.4028235e38,
-3.4028235e38,
],
),
AutoSimd(
[
14.661647,
-3.4028235e38,
-3.4028235e38,
-3.4028235e38,
],
),
],
},
children: [
0,
4294967295,
4294967295,
4294967295,
],
parent: NodeIndex {
index: 0,
lane: 0,
},
flags: QbvhNodeFlags(
1,
),
},
],
dirty_nodes: [],
free_list: [],
proxies: [
QbvhProxy {
node: NodeIndex {
index: 1,
lane: 0,
},
data: ColliderHandle(
Index {
index: 0,
generation: 0,
},
),
},
],
}
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