fix compilation ; removed some duplicate code

Cargo.toml

@@ -1,5 +1,5 @@
 [workspace]
-members = ["bevy_rapier2d", "bevy_rapier3d"]
+members = ["bevy_rapier2d", "bevy_rapier3d", "bevy_rapier_benches3d"]
 resolver = "2"
 
 [profile.dev]

bevy_rapier3d/Cargo.toml

@@ -61,6 +61,7 @@ bevy = { version = "0.14", default-features = false, features = [
 approx = "0.5.1"
 glam = { version = "0.27", features = ["approx"] }
 divan = "0.1"
+bevy_rapier_benches3d = { version = "0.1", path = "../bevy_rapier_benches3d" }
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs

bevy_rapier3d/benches/common.rs

@@ -0,0 +1,12 @@
+use bevy::app::App;
+use bevy_rapier_benches3d::common::{default_app, wait_app_start};
+
+pub fn bench_app_updates(bencher: divan::Bencher, setup: impl Fn(&mut App)) {
+    let mut app = default_app();
+    setup(&mut app);
+    wait_app_start(&mut app);
+
+    bencher.bench_local(|| {
+        app.update();
+    });
+}

bevy_rapier3d/benches/many_pyramids3.rs

@@ -4,86 +4,22 @@
 
 mod common;
 
+use bevy_rapier_benches3d::pyramids::setup_pyramids;
 use common::bench_app_updates;
 
-use benches_common::bench_app_updates;
-use bevy::prelude::*;
-use bevy_rapier3d::math::*;
-use bevy_rapier3d::prelude::*;
-
-pub fn create_pyramid(commands: &mut Commands, offset: Vect, stack_height: usize, rad: f32) {
-    let shift = rad * 2.0;
-
-    for i in 0usize..stack_height {
-        for j in i..stack_height {
-            let fj = j as f32;
-            let fi = i as f32;
-            let x = (fi * shift / 2.0) + (fj - fi) * shift;
-            let y = fi * shift;
-
-            // Build the rigid body.
-            commands.spawn((
-                RigidBody::Dynamic,
-                Transform::from_translation(Vec3::new(x, y, 0.0) + offset),
-                Collider::cuboid(1.0, 1.0, 1.0),
-            ));
-        }
-    }
-}
-
-pub fn setup_cubes(app: &mut App, pyramid_count: usize, stack_height: usize) {
-    app.add_systems(Startup, move |mut commands: Commands| {
-        let rad = 0.5;
-        let spacing = 4.0;
-
-        /*
-         * Ground
-         */
-        let ground_size = 50.0;
-        let ground_height = 0.1;
-
-        commands.spawn((
-            RigidBody::Fixed,
-            Transform::from_translation(Vect::new(0.0, -ground_height, 0.0)),
-            Collider::cuboid(
-                ground_size,
-                ground_height,
-                pyramid_count as f32 * spacing / 2.0 + ground_size,
-            ),
-        ));
-
-        /*
-         * Create the cubes
-         */
-        for pyramid_index in 0..pyramid_count {
-            let bottomy = rad;
-            create_pyramid(
-                &mut commands,
-                Vect::new(
-                    0.0,
-                    bottomy,
-                    (pyramid_index as f32 - pyramid_count as f32 / 2.0) * spacing,
-                ),
-                stack_height,
-                rad,
-            );
-        }
-    });
-}
-
 #[divan::bench(sample_count = 60, sample_size = 1)]
 fn pyramid_1_with_height_2(bencher: divan::Bencher) {
-    bench_app_updates(bencher, |app| setup_cubes(app, 1, 2));
+    bench_app_updates(bencher, |app| setup_pyramids(app, 1, 2));
 }
 
 #[divan::bench(sample_count = 60, sample_size = 1)]
 fn pyramid_1_with_height_20(bencher: divan::Bencher) {
-    bench_app_updates(bencher, |app| setup_cubes(app, 1, 20));
+    bench_app_updates(bencher, |app| setup_pyramids(app, 1, 20));
 }
 
 #[divan::bench(sample_count = 60, sample_size = 1)]
 fn pyramid_2_with_height_20(bencher: divan::Bencher) {
-    bench_app_updates(bencher, |app| setup_cubes(app, 2, 20));
+    bench_app_updates(bencher, |app| setup_pyramids(app, 2, 20));
 }
 
 fn main() {

bevy_rapier_benches3d/Cargo.toml

@@ -12,4 +12,3 @@ edition = "2021"
 rapier3d = { features = ["profiler"], version = "0.21" }
 bevy_rapier3d = { version = "0.27.0-rc.1", path = "../bevy_rapier3d" }
 bevy = { version = "0.14.0-rc.3", default-features = false }
-benches_common = { version = "0.1", path = "../benches_common" }

bevy_rapier_benches3d/README.md

@@ -7,7 +7,7 @@ It is implemented as a standalone binary, running different scenes setup, gather
 and outputs them at the end.
 
 ```sh
-cargo run --release -p bevy_rapier_benches3d
+cargo run --release --bin bench
 ```
 
 ## cargo bench

bevy_rapier_benches3d/src/bin/bench.rs

@@ -0,0 +1,14 @@
+use bevy_rapier_benches3d::{custom_bencher, pyramids::setup_pyramids};
+
+fn pyramid_1_with_height_2() {
+    custom_bencher(1000, |app| setup_pyramids(app, 1, 2));
+}
+
+fn pyramid_2_with_height_20() {
+    custom_bencher(100, |app| setup_pyramids(app, 3, 20));
+}
+
+fn main() {
+    pyramid_1_with_height_2();
+    pyramid_2_with_height_20();
+}

bevy_rapier3d/benches/common/mod.rs → bevy_rapier_benches3d/src/common.rs

@@ -46,13 +46,3 @@ pub fn wait_app_start(app: &mut App) {
     app.finish();
     app.cleanup();
 }
-
-pub fn bench_app_updates(bencher: divan::Bencher, setup: impl Fn(&mut App)) {
-    let mut app = default_app();
-    setup(&mut app);
-    wait_app_start(&mut app);
-
-    bencher.bench_local(|| {
-        app.update();
-    });
-}

bevy_rapier_benches3d/src/lib.rs

@@ -0,0 +1,42 @@
+//! Translated from rapier benchmark.
+//!
+//! <https://github.com/dimforge/rapier/blob/87ada34008f4a1a313ccf8c3040040bab4f10e69/benchmarks3d/many_pyramids3.rs>
+
+pub mod common;
+pub mod pyramids;
+
+use common::default_app;
+use common::wait_app_start;
+
+use bevy::prelude::*;
+use bevy_rapier3d::plugin::RapierContext;
+
+pub fn custom_bencher(steps: usize, setup: impl Fn(&mut App)) {
+    let mut app = default_app();
+    setup(&mut app);
+    wait_app_start(&mut app);
+
+    let mut timer_total = rapier3d::counters::Timer::new();
+    let mut timer_full_update = rapier3d::counters::Timer::new();
+    let mut rapier_step_times = vec![];
+    let mut total_update_times = vec![];
+    timer_total.start();
+    for _ in 0..steps {
+        timer_full_update.start();
+        app.update();
+        timer_full_update.pause();
+        let elapsed_time = timer_full_update.time() as f32;
+        let rc = app.world().resource::<RapierContext>();
+        rapier_step_times.push(rc.pipeline.counters.step_time.time() as f32);
+        total_update_times.push(elapsed_time);
+    }
+    timer_total.pause();
+    let average_total = total_update_times.iter().sum::<f32>() / total_update_times.len() as f32;
+    println!("average total time: {} ms", average_total);
+    let average_rapier_step =
+        rapier_step_times.iter().sum::<f32>() / rapier_step_times.len() as f32;
+    println!("average rapier step time: {} ms", average_rapier_step);
+    let average_rapier_overhead = average_total - average_rapier_step;
+    println!("average bevy overhead: {} ms", average_rapier_overhead);
+    println!("total time: {} ms", timer_total.time());
+}

bevy_rapier_benches3d/src/pyramids.rs

@@ -0,0 +1,64 @@
+use bevy::prelude::*;
+use bevy_rapier3d::dynamics::RigidBody;
+use bevy_rapier3d::geometry::Collider;
+use bevy_rapier3d::math::Vect;
+
+pub fn create_pyramid(commands: &mut Commands, offset: Vect, stack_height: usize, rad: f32) {
+    let shift = rad * 2.0;
+
+    for i in 0usize..stack_height {
+        for j in i..stack_height {
+            let fj = j as f32;
+            let fi = i as f32;
+            let x = (fi * shift / 2.0) + (fj - fi) * shift;
+            let y = fi * shift;
+
+            // Build the rigid body.
+            commands.spawn((
+                RigidBody::Dynamic,
+                Transform::from_translation(Vec3::new(x, y, 0.0) + offset),
+                Collider::cuboid(1.0, 1.0, 1.0),
+            ));
+        }
+    }
+}
+
+pub fn setup_pyramids(app: &mut App, pyramid_count: usize, stack_height: usize) {
+    app.add_systems(Startup, move |mut commands: Commands| {
+        let rad = 0.5;
+        let spacing = 4.0;
+
+        /*
+         * Ground
+         */
+        let ground_size = 50.0;
+        let ground_height = 0.1;
+
+        commands.spawn((
+            RigidBody::Fixed,
+            Transform::from_translation(Vect::new(0.0, -ground_height, 0.0)),
+            Collider::cuboid(
+                ground_size,
+                ground_height,
+                pyramid_count as f32 * spacing / 2.0 + ground_size,
+            ),
+        ));
+
+        /*
+         * Create the pyramids
+         */
+        for pyramid_index in 0..pyramid_count {
+            let bottomy = rad;
+            create_pyramid(
+                &mut commands,
+                Vect::new(
+                    0.0,
+                    bottomy,
+                    (pyramid_index as f32 - pyramid_count as f32 / 2.0) * spacing,
+                ),
+                stack_height,
+                rad,
+            );
+        }
+    });
+}