Gpu accel

crates/rapier2d-f64/Cargo.toml

@@ -49,6 +49,7 @@ serde-serialize = [
 enhanced-determinism = ["simba/libm_force", "parry2d-f64/enhanced-determinism"]
 debug-render = []
 profiler = ["dep:web-time"] # Enables the internal profiler.
+gpu-acceleration = ["dep:wgpu", "dep:bytemuck", "dep:pollster"] # Enables GPU compute via WGPU
 
 # Feature used for debugging only.
 debug-disable-legitimate-fe-exceptions = []
@@ -89,6 +90,11 @@ thiserror = "2"
 profiling = "1.0"
 static_assertions = "1"
 
+# GPU acceleration dependencies
+wgpu = { version = "22", optional = true }
+bytemuck = { version = "1.14", optional = true, features = ["derive"] }
+pollster = { version = "0.3", optional = true }
+
 [dev-dependencies]
 bincode = "1"
 serde_json = "1"

crates/rapier2d/Cargo.toml

@@ -49,6 +49,7 @@ serde-serialize = [
 enhanced-determinism = ["simba/libm_force", "parry2d/enhanced-determinism"]
 debug-render = []
 profiler = ["dep:web-time"] # Enables the internal profiler.
+gpu-acceleration = ["dep:wgpu", "dep:bytemuck", "dep:pollster"] # Enables GPU compute via WGPU
 
 # Feature used for debugging only.
 debug-disable-legitimate-fe-exceptions = []
@@ -92,8 +93,19 @@ static_assertions = "1"
 # TODO: should be re-exported from simba
 wide = "0.7.1"
 
+# GPU acceleration dependencies
+wgpu = { version = "22", optional = true }
+bytemuck = { version = "1.14", optional = true, features = ["derive"] }
+pollster = { version = "0.3", optional = true }
+
 [dev-dependencies]
 bincode = "1"
 serde_json = "1"
 serde = { version = "1", features = ["derive"] }
 oorandom = { version = "11", default-features = false }
+criterion = { version = "0.5", features = ["html_reports"] }
+
+[[bench]]
+name = "gpu_benchmarks"
+harness = false
+required-features = ["gpu-acceleration"]

crates/rapier3d-f64/Cargo.toml

@@ -52,6 +52,7 @@ serde-serialize = [
 enhanced-determinism = ["simba/libm_force", "parry3d-f64/enhanced-determinism"]
 debug-render = []
 profiler = ["dep:web-time"] # Enables the internal profiler.
+gpu-acceleration = ["dep:wgpu", "dep:bytemuck", "dep:pollster"] # Enables GPU compute via WGPU
 
 # Feature used for debugging only.
 debug-disable-legitimate-fe-exceptions = []
@@ -92,6 +93,11 @@ thiserror = "2"
 profiling = "1.0"
 static_assertions = "1"
 
+# GPU acceleration dependencies
+wgpu = { version = "22", optional = true }
+bytemuck = { version = "1.14", optional = true, features = ["derive"] }
+pollster = { version = "0.3", optional = true }
+
 [dev-dependencies]
 bincode = "1"
 serde_json = "1"

crates/rapier3d/Cargo.toml

@@ -53,6 +53,7 @@ serde-serialize = [
 enhanced-determinism = ["simba/libm_force", "parry3d/enhanced-determinism"]
 debug-render = []
 profiler = ["dep:web-time"] # Enables the internal profiler.
+gpu-acceleration = ["dep:wgpu", "dep:bytemuck", "dep:pollster"] # Enables GPU compute via WGPU
 
 # Feature used for debugging only.
 debug-disable-legitimate-fe-exceptions = []
@@ -96,8 +97,19 @@ static_assertions = "1"
 # TODO: should be re-exported from simba
 wide = "0.7.1"
 
+# GPU acceleration dependencies
+wgpu = { version = "22", optional = true }
+bytemuck = { version = "1.14", optional = true, features = ["derive"] }
+pollster = { version = "0.3", optional = true }
+
 [dev-dependencies]
 bincode = "1"
 serde_json = "1"
 serde = { version = "1", features = ["derive"] }
 oorandom = { version = "11", default-features = false }
+criterion = { version = "0.5", features = ["html_reports"] }
+
+[[bench]]
+name = "gpu_benchmarks"
+harness = true
+required-features = ["gpu-acceleration"]

crates/rapier3d/benches/gpu_benchmarks.rs

@@ -0,0 +1,195 @@
+//! GPU vs CPU benchmarks: Direct comparison with summary table.
+//!
+//! Compares CPU and GPU performance for physics operations
+//! and prints an easy-to-read comparison table.
+
+use rapier3d::prelude::*;
+use rapier3d::gpu::{GpuContext, BufferManager};
+use std::time::Instant;
+
+/// Test scales: body counts
+const SCALES: &[usize] = &[10, 50, 100, 500, 1_000, 5_000, 10_000];
+const ITERATIONS: usize = 10; // Number of iterations to average
+
+struct BenchmarkResult {
+    scale: usize,
+    cpu_time_us: f64,
+    gpu_time_us: f64,
+    speedup: f64,
+}
+
+/// Helper to create a scene with N bodies in a grid.
+fn create_test_bodies(count: usize) -> RigidBodySet {
+    let mut bodies = RigidBodySet::new();
+    let side = (count as f32).cbrt().ceil() as usize;
+    let spacing = 2.5;
+
+    for i in 0..side {
+        for j in 0..side {
+            for k in 0..side {
+                if bodies.len() >= count {
+                    break;
+                }
+
+                let pos = Vector::new(
+                    i as Real * spacing,
+                    j as Real * spacing,
+                    k as Real * spacing,
+                );
+
+                let rb = RigidBodyBuilder::dynamic()
+                    .translation(pos)
+                    .linvel(Vector::new(
+                        (i as Real - side as Real / 2.0) * 0.1,
+                        -1.0,
+                        (k as Real - side as Real / 2.0) * 0.1,
+                    ))
+                    .build();
+
+                bodies.insert(rb);
+            }
+            if bodies.len() >= count {
+                break;
+            }
+        }
+        if bodies.len() >= count {
+            break;
+        }
+    }
+
+    bodies
+}
+
+fn benchmark_cpu_integration(bodies: &RigidBodySet, iterations: usize) -> f64 {
+    let dt = 1.0 / 60.0;
+    let mut bodies_copy = bodies.clone();
+
+    let start = Instant::now();
+    for _ in 0..iterations {
+        for (_handle, body) in bodies_copy.iter_mut() {
+            if body.is_dynamic() {
+                let mut pos = body.position().clone();
+                let linvel = body.linvel();
+
+                pos.translation.x += linvel.x * dt;
+                pos.translation.y += linvel.y * dt;
+                pos.translation.z += linvel.z * dt;
+
+                body.set_position(pos, false);
+            }
+        }
+    }
+    let elapsed = start.elapsed();
+
+    elapsed.as_micros() as f64 / iterations as f64
+}
+
+fn benchmark_gpu_transfer(bodies: &RigidBodySet, buffer_manager: &BufferManager, gpu_buffer: &mut rapier3d::gpu::RigidBodyGpuBuffer, iterations: usize) -> f64 {
+    let start = Instant::now();
+    for _ in 0..iterations {
+        buffer_manager.upload_rigid_bodies(bodies, gpu_buffer);
+        let (_positions, _velocities) = buffer_manager.download_rigid_bodies(gpu_buffer);
+    }
+    let elapsed = start.elapsed();
+
+    elapsed.as_micros() as f64 / iterations as f64
+}
+
+fn print_results_table(results: &[BenchmarkResult]) {
+    println!("\n╔═══════════════════════════════════════════════════════════════════════════════╗");
+    println!("║                    CPU vs GPU PERFORMANCE COMPARISON                          ║");
+    println!("╠═══════════════════════════════════════════════════════════════════════════════╣");
+    println!("║  Bodies  │    CPU Time    │    GPU Time    │   Speedup   │      Winner       ║");
+    println!("╠══════════╪════════════════╪════════════════╪═════════════╪═══════════════════╣");
+
+    for result in results {
+        let winner = if result.speedup > 1.0 {
+            format!("GPU {:>6.2}x faster", result.speedup)
+        } else if result.speedup < 0.95 {
+            format!("CPU {:>6.2}x faster", 1.0 / result.speedup)
+        } else {
+            "  ~Same speed   ".to_string()
+        };
+
+        let cpu_str = format_time(result.cpu_time_us);
+        let gpu_str = format_time(result.gpu_time_us);
+
+        println!("║ {:>8} │ {:>14} │ {:>14} │ {:>11.2}x │ {:>17} ║", 
+                 result.scale, 
+                 cpu_str,
+                 gpu_str,
+                 result.speedup,
+                 winner);
+    }
+
+    println!("╚══════════╧════════════════╧════════════════╧═════════════╧═══════════════════╝");
+    println!("\nNote: GPU times include CPU↔GPU transfer overhead.");
+    println!("      Actual GPU compute will be added in Phase 2.");
+}
+
+fn format_time(us: f64) -> String {
+    if us < 1_000.0 {
+        format!("{:>10.2} µs", us)
+    } else if us < 1_000_000.0 {
+        format!("{:>10.2} ms", us / 1_000.0)
+    } else {
+        format!("{:>10.2} s", us / 1_000_000.0)
+    }
+}
+
+fn main() {
+    println!("╔═══════════════════════════════════════════════════════════════════════════════╗");
+    println!("║                       RAPIER GPU ACCELERATION BENCHMARK                       ║");
+    println!("╚═══════════════════════════════════════════════════════════════════════════════╝\n");
+
+    println!("Initializing GPU...");
+    let gpu_setup = match GpuContext::new() {
+        Ok(ctx) => {
+            println!("✓ GPU initialized: {}", ctx.adapter.get_info().name);
+            let buffer_manager = BufferManager::new(ctx.device, ctx.queue);
+            Some(buffer_manager)
+        },
+        Err(e) => {
+            println!("✗ GPU not available: {:?}", e);
+            println!("  Running CPU-only benchmarks...\n");
+            None
+        }
+    };
+
+    let mut results = Vec::new();
+
+    for &scale in SCALES {
+        print!("Benchmarking {} bodies... ", scale);
+        std::io::Write::flush(&mut std::io::stdout()).unwrap();
+
+        let bodies = create_test_bodies(scale);
+
+        // Benchmark CPU
+        let cpu_time = benchmark_cpu_integration(&bodies, ITERATIONS);
+
+        // Benchmark GPU if available
+        let gpu_time = if let Some(ref buffer_manager) = gpu_setup {
+            let mut gpu_buffer = buffer_manager.create_rigid_body_buffer(bodies.len());
+            benchmark_gpu_transfer(&bodies, buffer_manager, &mut gpu_buffer, ITERATIONS)
+        } else {
+            0.0
+        };
+
+        let speedup = if gpu_time > 0.0 {
+            cpu_time / gpu_time
+        } else {
+            0.0
+        };
+
+        results.push(BenchmarkResult {
+            scale,
+            cpu_time_us: cpu_time,
+            gpu_time_us: gpu_time,
+            speedup,
+        });
+
+        println!("Done!");
+    }
+
+    print_results_table(&results);
+}

examples3d/Cargo.toml

@@ -43,6 +43,10 @@ path = "./all_examples3.rs"
 name = "harness_capsules3"
 path = "./harness_capsules3.rs"
 
+[[bin]]
+name = "gpu_benchmark"
+path = "./gpu_benchmark.rs"
+
 #[lib]
 #crate-type = ["cdylib", "rlib"]
 #path = "./all_examples3_wasm.rs"