Merge branch 'main' into contact-manifolds

crates/benches_common_3d/Cargo.toml

@@ -0,0 +1,9 @@
+[package]
+name = "benches_common_3d"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+bevy = { version = "0.11", default-features = false }
+bevy_xpbd_3d = { path = "../bevy_xpbd_3d", default-features = false }
+criterion = "0.4"

crates/benches_common_3d/src/lib.rs

@@ -0,0 +1,40 @@
+use bevy::prelude::*;
+use bevy_xpbd_3d::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((
+                MinimalPlugins,
+                HierarchyPlugin,
+                TransformPlugin,
+                PhysicsPlugins::default(),
+            ));
+
+            app.insert_resource(PhysicsTimestep::FixedOnce(1.0 / 60.0));
+
+            setup(&mut app);
+
+            while !app.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,
+    );
+}

crates/bevy_xpbd_3d/Cargo.toml

@@ -36,7 +36,9 @@ derive_more = "0.99"
 
 [dev-dependencies]
 examples_common_3d = { path = "../examples_common_3d" }
+benches_common_3d = { path = "../benches_common_3d" }
 approx = "0.5"
+criterion = { version = "0.4", features = ["html_reports"] }
 glam = { version = "0.24", features = [ "approx" ] }
 insta = "1.0"
 itertools = "0.10"
@@ -76,3 +78,7 @@ required-features = ["3d"]
 [[example]]
 name = "custom_constraint"
 required-features = ["3d"]
+
+[[bench]]
+name = "cubes"
+harness = false

crates/bevy_xpbd_3d/benches/cubes.rs

@@ -0,0 +1,48 @@
+use std::time::Duration;
+
+use benches_common_3d::bench_app;
+use bevy::prelude::*;
+use bevy_xpbd_3d::math::*;
+use bevy_xpbd_3d::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::Static,
+            Position(-2.0 * Vector::Z),
+            Collider::cuboid(100.0, 1.0, 100.0),
+        ));
+
+        for x in 0..size {
+            for z in 0..size {
+                commands.spawn((
+                    RigidBody::Dynamic,
+                    Position(Vector::new(x as Scalar, 2.0, z as Scalar)),
+                    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);

src/plugins/prepare.rs

@@ -40,7 +40,15 @@ impl Plugin for PreparePlugin {
         app.add_systems(
             self.schedule.dyn_clone(),
             (
-                (init_rigid_bodies, init_mass_properties, init_colliders),
+                (
+                    bevy::transform::systems::sync_simple_transforms,
+                    bevy::transform::systems::propagate_transforms,
+                    init_rigid_bodies,
+                )
+                    .chain()
+                    .run_if(any_new_rigid_bodies),
+                init_mass_properties,
+                init_colliders,
                 update_mass_properties,
             )
                 .chain()
@@ -65,6 +73,10 @@ type RigidBodyComponents = (
     Option<&'static TimeSleeping>,
 );
 
+fn any_new_rigid_bodies(query: Query<(), Added<RigidBody>>) -> bool {
+    !query.is_empty()
+}
+
 fn init_rigid_bodies(
     mut commands: Commands,
     mut bodies: Query<RigidBodyComponents, Added<RigidBody>>,

src/plugins/setup.rs

@@ -2,7 +2,10 @@
 //!
 //! See [`PhysicsSetupPlugin`].
 
-use bevy::transform::TransformSystem;
+use bevy::{
+    ecs::schedule::{ExecutorKind, ScheduleBuildSettings},
+    transform::TransformSystem,
+};
 
 use crate::prelude::*;
 
@@ -115,10 +118,12 @@ impl Plugin for PhysicsSetupPlugin {
         // Create physics schedule, the schedule that advances the physics simulation
         let mut physics_schedule = Schedule::default();
 
-        physics_schedule.set_build_settings(bevy::ecs::schedule::ScheduleBuildSettings {
-            ambiguity_detection: LogLevel::Error,
-            ..default()
-        });
+        physics_schedule
+            .set_executor_kind(ExecutorKind::SingleThreaded)
+            .set_build_settings(ScheduleBuildSettings {
+                ambiguity_detection: LogLevel::Error,
+                ..default()
+            });
 
         physics_schedule.configure_sets(
             (
@@ -140,10 +145,12 @@ impl Plugin for PhysicsSetupPlugin {
         // Create substep schedule, the schedule that runs the inner substepping loop
         let mut substep_schedule = Schedule::default();
 
-        substep_schedule.set_build_settings(bevy::ecs::schedule::ScheduleBuildSettings {
-            ambiguity_detection: LogLevel::Error,
-            ..default()
-        });
+        substep_schedule
+            .set_executor_kind(ExecutorKind::SingleThreaded)
+            .set_build_settings(ScheduleBuildSettings {
+                ambiguity_detection: LogLevel::Error,
+                ..default()
+            });
 
         substep_schedule.configure_sets(
             (