Add criterion benchmarks for contact manifolds and GJK/EPA (all four crates) - #440
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marknefedov wants to merge 3 commits into
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Add criterion benchmarks for contact manifolds and GJK/EPA (all four crates)#440marknefedov wants to merge 3 commits into
marknefedov wants to merge 3 commits into
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New harness=false bench targets for parry3d covering steady-state convex/convex and trimesh manifold updates plus GJK/EPA contact queries. The pre-existing nightly libtest bench (benches/all.rs) is kept unchanged and declared explicitly since manual [[bench]] entries disable auto-discovery.
The parry3d bench bodies are parameterized over Real and reused by parry3d-f64 through extern-crate alias shims; parry2d gets 2D-native bodies (hexagon/capsule PFM pair, triangulated-band terrain) shared the same way with parry2d-f64.
marknefedov
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August 14, 2026 21:32
bvh_queries: AABB interference enumeration, ray casts, and point projection through the TriMesh query API. contact_manifolds gains two variants with TriMeshFlags::FIX_INTERNAL_EDGES so the per-triangle pseudo-normal fetch is on the measured path.
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Adds
harness = falsecriterion benches for the narrow-phase hot paths: steady-state convex/convex manifold updates (cuboid/cuboid, capsule/capsule, the generic PFM pair), trimesh-vs-convex persistent manifolds with workspace reuse, and GJK/EPA contact queries at separated, shallow and deep-penetration configurations. Poses drift each iteration so contact tracking stays on the rebuild-and-match path.The bench bodies are written against
Real; the f64 crates reuse them verbatim through a two-line extern-crate alias shim. parry2d has 2D-native bodies (hexagon/capsule as the PFM pair, a triangulated band as terrain), shared the same way with parry2d-f64.Declaring any
[[bench]]turns off bench auto-discovery, so the pre-existing nightly libtest bench (benches/all.rs) has an explicit manifest entry. The file itself is unchanged. The new benches run on stable.A third bench target,
bvh_queries, covers AABB interference enumeration, ray casts, and point projection through the TriMesh query API, and the manifold group gains twoFIX_INTERNAL_EDGESvariants that put the per-triangle pseudo-normal fetch on the measured path.