218 composable dispatcher

crates/parry3d/benches/common/dispatcher.rs

@@ -0,0 +1,96 @@
+use na::Isometry3;
+use parry3d::math::Isometry;
+use parry3d::query::composable_dispatcher::ComposableQueryDispatcher;
+use parry3d::query::{self, Unsupported};
+use parry3d::query::{
+    composable_dispatcher::create_intersection_dispatcher, DefaultQueryDispatcher, QueryDispatcher,
+};
+use parry3d::shape::{Ball, ConvexPolyhedron, Shape};
+use rand::SeedableRng;
+use rand_isaac::IsaacRng;
+use test::Bencher;
+
+use crate::common::{generate, unref};
+
+#[path = "../common/macros.rs"]
+#[macro_use]
+mod macros;
+
+#[bench]
+fn bench_dispatcher_creation(bh: &mut Bencher) {
+    let mut i = 0;
+    bh.iter(|| unsafe { test::black_box(create_intersection_dispatcher()) })
+}
+
+pub fn intersection_default(
+    pos12: &Isometry<f32>,
+    g1: &dyn Shape,
+    g2: &dyn Shape,
+) -> Result<bool, Unsupported> {
+    DefaultQueryDispatcher.intersection_test(pos12, g1, g2)
+}
+
+bench_free_fn!(
+    bench_intersection_ball_ball,
+    intersection_default,
+    pos12: Isometry3<f32>,
+    b1: Ball,
+    b2: Ball
+);
+
+#[bench]
+fn bench_intersection_ball_ball_composable(bh: &mut Bencher) {
+    const LEN: usize = 1 << 7;
+    let mut rng: IsaacRng = SeedableRng::seed_from_u64(0);
+    let pos12: Vec<Isometry3<f32>> = (0usize..LEN).map(|_| generate(&mut rng)).collect();
+    let b1: Vec<Ball> = (0usize..LEN).map(|_| generate(&mut rng)).collect();
+    let b2: Vec<Ball> = (0usize..LEN).map(|_| generate(&mut rng)).collect();
+    let mut i = 0;
+    let dispatcher = ComposableQueryDispatcher {
+        intersections: create_intersection_dispatcher(),
+    };
+    bh.iter(|| {
+        i = (i + 1) & (LEN - 1);
+        unsafe {
+            test::black_box(dispatcher.intersection_test(
+                unref(pos12.get_unchecked(i)),
+                unref(b1.get_unchecked(i)),
+                unref(b2.get_unchecked(i)),
+            ))
+        }
+    });
+}
+
+bench_free_fn!(
+    bench_intersection_convex_polyhedron_convex_polyhedron,
+    intersection_default,
+    pos12: Isometry3<f32>,
+    b1: ConvexPolyhedron,
+    b2: ConvexPolyhedron
+);
+
+#[bench]
+fn bench_intersection_convex_polyhedron_convex_polyhedron_composable(bh: &mut Bencher) {
+    const LEN: usize = 1 << 7;
+    let mut rng: IsaacRng = SeedableRng::seed_from_u64(0);
+    let pos12: Vec<Isometry3<f32>> = (0usize..LEN).map(|_| generate(&mut rng)).collect();
+    let b1: Vec<ConvexPolyhedron> = (0usize..LEN).map(|_| generate(&mut rng)).collect();
+    let b2: Vec<ConvexPolyhedron> = (0usize..LEN).map(|_| generate(&mut rng)).collect();
+    let mut i = 0;
+    let dispatcher = ComposableQueryDispatcher {
+        intersections: create_intersection_dispatcher(),
+    };
+    bh.iter(|| {
+        i = (i + 1) & (LEN - 1);
+        unsafe {
+            assert!(matches!(
+                test::black_box(dispatcher.intersection_test(
+                    unref(pos12.get_unchecked(i)),
+                    unref(b1.get_unchecked(i)),
+                    unref(b2.get_unchecked(i)),
+                )),
+                Ok(_)
+            ))
+        }
+    });
+}

crates/parry3d/benches/common/mod.rs

@@ -3,5 +3,6 @@ pub use self::generators::generate_trimesh_around_origin;
 pub use self::unref::unref;
 
 mod default_gen;
+mod dispatcher;
 mod generators;
 mod unref;