Instrumentation used to decompose the washer scene (which phase holds
rapier's ~24% advantage over box3d). Timer.rs drops the profiler-feature
gate so PhysicsPipeline's per-stage counters always measure (std Instant
instead of web_time); bench gains --stages (per-phase ms split) and
--probe (per-step contact/pair/sleep counts). Diagnostic tooling only;
no effect on simulation. Findings: washer's rapier advantage is entirely
broad phase (box3d ~8.5s vs rapier 1.7s), box3d's narrow phase is
actually faster than rapier's.
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
- libs/rapier/crates/bench now mirrors every box3d benchmark scene
(trees100/50/25, junkyard, rain, washer added to large_pyramid/
many_pyramids/joint_grid), same -b indices as the box3d benchmark.
Geometry, densities, filters, spawn cadence and joint counts match;
body/collider/joint counts verified equal on all nine scenes.
- Fix an index-out-of-bounds panic in the vendored rapier simd-stable
constraint grouping (interaction_groups.rs): bodies in a different
island than the interaction (kinematic drivers, dynamics mid
island-merge) indexed the wrong island's conflict masks. Out-of-island
bodies are now exempt from conflict tracking, matching the solver's
existing boundary treatment (bounds-checked gathers, dropped scatters).
Original three scenes reproduce their previous timings after the fix.
- README: full nine-scene single-threaded matrix vs rapier (box3d wins
7/9, +33% geomean; rapier wins the hull-churn scenes junkyard/washer)
with comparability caveats for the extended scenes.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Re-vendors wide 0.7 + safe_arch, restores the upstream simd-stable
wiring in rapier3d/parry3d manifests and the cfg-simd source, and drops
the added 'stripped build does not support SIMD' guards (upstream's
simd-vs-enhanced-determinism exclusivity guard kept).
Interleaved single-thread retest (min of 4): SIMD buys rapier 1.8-2.2x;
box3d vs rapier-simd is now near parity — large_pyramid 1579 vs 1638 ms,
joint_grid 957 vs 1008 ms (box3d ahead), many_pyramids 2389 vs 1970 ms
(rapier ahead). box3d README grid updated with the honest three-column
table; box3d keeps cross-arch determinism + zero deps at that speed.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
