added initial benchmarks, similar to bevy_xpbd

benches_common/Cargo.toml

@@ -0,0 +1,9 @@
+[package]
+name = "benches_common"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+bevy = { version = "0.14.0-rc.3", default-features = false }
+bevy_rapier3d = { path = "../bevy_rapier3d", default-features = false }
+criterion = "0.5"

benches_common/src/lib.rs

@@ -0,0 +1,63 @@
+use bevy::{
+    app::PluginsState,
+    prelude::*,
+    render::{
+        settings::{RenderCreation, WgpuSettings},
+        RenderPlugin,
+    },
+    scene::ScenePlugin,
+    time::TimeUpdateStrategy,
+};
+use bevy_rapier3d::prelude::*;
+use criterion::{measurement::Measurement, BatchSize, Bencher};
+
+pub fn bench_app<M: Measurement>(
+    bencher: &mut Bencher<'_, M>,
+    steps: u32,
+    setup: impl Fn(&mut App),
+) {
+    bencher.iter_batched_ref(
+        move || {
+            let mut app = App::new();
+
+            app.add_plugins((
+                WindowPlugin::default(),
+                MinimalPlugins,
+                AssetPlugin::default(),
+                ScenePlugin,
+                RenderPlugin {
+                    render_creation: RenderCreation::Automatic(WgpuSettings {
+                        backends: None,
+                        ..Default::default()
+                    }),
+                    ..Default::default()
+                },
+                ImagePlugin::default(),
+                HierarchyPlugin,
+                TransformPlugin,
+                RapierPhysicsPlugin::<()>::default(),
+            ));
+
+            // 60 physics
+            app.insert_resource(TimeUpdateStrategy::ManualDuration(
+                std::time::Duration::from_secs_f32(1f32 / 60f32),
+            ));
+
+            setup(&mut app);
+
+            while app.plugins_state() != PluginsState::Ready {
+                bevy::tasks::tick_global_task_pools_on_main_thread();
+            }
+
+            app.finish();
+            app.cleanup();
+            app
+        },
+        move |app| {
+            for _ in 0..steps {
+                app.update();
+            }
+        },
+        BatchSize::PerIteration,
+    );
+}

bevy_rapier3d/Cargo.toml

@@ -53,14 +53,20 @@ log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
+benches_common = { path = "../benches_common" }
 bevy = { version = "0.14.0-rc.3", default-features = false, features = [
     "x11",
     "tonemapping_luts",
     "bevy_state",
 ] }
 approx = "0.5.1"
 glam = { version = "0.27", features = ["approx"] }
+criterion = { version = "0.5", features = ["html_reports"] }
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs
 features = ["debug-render-3d", "serde-serialize"]
+
+[[bench]]
+name = "cubes"
+harness = false

bevy_rapier3d/benches/cubes.rs

@@ -0,0 +1,47 @@
+use std::time::Duration;
+
+use benches_common::bench_app;
+use bevy::prelude::*;
+use bevy_rapier3d::math::*;
+use bevy_rapier3d::prelude::*;
+use criterion::{criterion_group, criterion_main, Criterion};
+
+fn setup_cubes(app: &mut App, size: u32) {
+    app.add_systems(Startup, move |mut commands: Commands| {
+        commands.spawn((
+            RigidBody::Fixed,
+            Transform::from_translation(-2.0 * Vect::Z),
+            Collider::cuboid(100.0, 1.0, 100.0),
+        ));
+        for x in 0..size {
+            for z in 0..size {
+                commands.spawn((
+                    RigidBody::Dynamic,
+                    Transform::from_translation(Vec3::new(x as f32, 2.0, z as f32)),
+                    Collider::cuboid(1.0, 1.0, 1.0),
+                ));
+            }
+        }
+    });
+}
+
+fn criterion_benchmark(c: &mut Criterion) {
+    c.bench_function("cubes 3x3, 30 steps", |b| {
+        bench_app(b, 30, |app| setup_cubes(app, 3))
+    });
+
+    c.bench_function("cubes 5x5, 30 steps", |b| {
+        bench_app(b, 30, |app| setup_cubes(app, 5))
+    });
+
+    c.bench_function("cubes 10x10, 30 steps", |b| {
+        bench_app(b, 30, |app| setup_cubes(app, 10))
+    });
+}
+
+criterion_group!(
+    name = benches;
+    config = Criterion::default().measurement_time(Duration::from_secs(20));
+    targets = criterion_benchmark
+);
+criterion_main!(benches);