feat: physics system benchmarks + baseline storage (chrome)

Author: azaleacolburn

fission/package.json

@@ -13,6 +13,10 @@
     "test": "vitest",
     "test:coverage": "vitest run --coverage",
     "bench": "vitest bench --mode test",
+    "bench:baseline": "vitest bench --mode test --project chromium  --outputJson src/bench/baseline.json",
+    "bench:chrome": "vitest bench --mode test --project chromium",
+    "bench:firefox": "vitest bench --mode test --project firefox",
+    "bench:ci": "vitest bench --mode test --project chromium --compare src/bench/baseline.json",
     "build": "tsc && vite build",
     "build:prod": "tsc && vite build --base=/fission/ --outDir dist/prod",
     "build:dev": "tsc && vite build --base=/fission-closed/ --outDir dist/dev",

fission/src/bench/PhysicsSystem.bench.ts

@@ -0,0 +1,133 @@
+import * as THREE from "three"
+import { bench, describe } from "vitest"
+import JOLT from "@/util/loading/JoltSyncLoader"
+import PhysicsSystem, { STANDARD_SIMULATION_PERIOD } from "@/systems/physics/PhysicsSystem"
+import MirabufParser from "@/mirabuf/MirabufParser"
+import { getMiraAssembly } from "@/test/GetAssets"
+
+function addFloor(system: PhysicsSystem) {
+    const floor = system.createBox(new THREE.Vector3(50, 0.5, 50), undefined, new THREE.Vector3(0, -0.5, 0), undefined)
+    system.addBodyToSystem(floor.GetID(), false)
+}
+
+// --- Simulation step systems ---
+
+const emptySystem = new PhysicsSystem()
+addFloor(emptySystem)
+
+const eightBodySystem = new PhysicsSystem()
+addFloor(eightBodySystem)
+for (let i = 0; i < 8; i++) {
+    const body = eightBodySystem.createBox(
+        new THREE.Vector3(0.25, 0.25, 0.25),
+        1.0,
+        new THREE.Vector3((i % 4) * 0.6, Math.floor(i / 4) + 0.5, 0),
+        undefined
+    )
+    eightBodySystem.addBodyToSystem(body.GetID(), true)
+}
+
+const fiftyBodySystem = new PhysicsSystem()
+addFloor(fiftyBodySystem)
+for (let i = 0; i < 50; i++) {
+    const body = fiftyBodySystem.createBox(
+        new THREE.Vector3(0.25, 0.25, 0.25),
+        0.5,
+        new THREE.Vector3((i % 10) * 0.6, Math.floor(i / 10) * 0.6 + 0.5, 0),
+        undefined
+    )
+    fiftyBodySystem.addBodyToSystem(body.GetID(), true)
+}
+
+// --- Raycast system ---
+// Pass destroy=false on each rayCast call so the Vec3s survive across iterations.
+
+const raycastSystem = new PhysicsSystem()
+const rayTarget = raycastSystem.createBox(
+    new THREE.Vector3(1, 1, 1),
+    undefined,
+    new THREE.Vector3(0, 5, 0),
+    undefined
+)
+raycastSystem.addBodyToSystem(rayTarget.GetID(), false)
+const RAY_FROM = new JOLT.Vec3(0, 0, 0)
+const RAY_HIT_DIR = new JOLT.Vec3(0, 10, 0)
+const RAY_MISS_DIR = new JOLT.Vec3(100, 0, 0)
+
+// --- Body creation system ---
+
+const creationSystem = new PhysicsSystem()
+const HALF_EXTENTS = new THREE.Vector3(0.5, 0.5, 0.5)
+const CUBE_HULL_POINTS = new Float32Array([
+    0.5, -0.5, 0.5, -0.5, -0.5, 0.5, -0.5, -0.5, -0.5, 0.5, -0.5, -0.5,
+    0.5, 0.5, 0.5, -0.5, 0.5, 0.5, -0.5, 0.5, -0.5, 0.5, 0.5, -0.5,
+])
+
+// --- Assembly spawn systems (async: need real mirabuf assemblies) ---
+
+const [dozerAssembly, multiJointAssembly] = await Promise.all([
+    getMiraAssembly("DOZER"),
+    getMiraAssembly("MULTI_JOINT"),
+])
+const dozerParser = new MirabufParser(dozerAssembly!)
+const multiJointParser = new MirabufParser(multiJointAssembly!)
+
+// Separate systems per spawn bench so their internal state stays independent.
+const spawnSystemDozer = new PhysicsSystem()
+const spawnSystemMultiJoint = new PhysicsSystem()
+
+// ────────────────────────────────────────────────────────────────────────────
+
+describe("PhysicsSystem — simulation step", () => {
+    bench("update — empty world", () => {
+        emptySystem.update(STANDARD_SIMULATION_PERIOD)
+    })
+
+    bench("update — 8 dynamic bodies", () => {
+        eightBodySystem.update(STANDARD_SIMULATION_PERIOD)
+    })
+
+    bench("update — 50 dynamic bodies", () => {
+        fiftyBodySystem.update(STANDARD_SIMULATION_PERIOD)
+    })
+})
+
+describe("PhysicsSystem — body creation", () => {
+    bench("createBox + add + destroy", () => {
+        const body = creationSystem.createBox(HALF_EXTENTS, 1.0, undefined, undefined)
+        creationSystem.addBodyToSystem(body.GetID(), false)
+        creationSystem.destroyBodies(body)
+    })
+
+    bench("createConvexHull — 8-point cube", () => {
+        const result = creationSystem.createConvexHull(CUBE_HULL_POINTS)
+        if (result.IsValid()) result.Get().Release()
+    })
+})
+
+describe("PhysicsSystem — raycast", () => {
+    bench("rayCast — hit", () => {
+        raycastSystem.rayCast(RAY_FROM, RAY_HIT_DIR, false)
+    })
+
+    bench("rayCast — miss", () => {
+        raycastSystem.rayCast(RAY_FROM, RAY_MISS_DIR, false)
+    })
+})
+
+describe("PhysicsSystem — assembly spawn", () => {
+    // createMechanismFromParser allocates a LayerReserve (one of 8 robot slots).
+    // destroyMechanism removes bodies and constraints but does not release the slot,
+    // so we do it manually to keep the pool from exhausting across iterations.
+    bench("spawn + destroy Dozer (7 bodies, 6 joints)", () => {
+        const mech = spawnSystemDozer.createMechanismFromParser(dozerParser)
+        spawnSystemDozer.destroyMechanism(mech)
+        mech.layerReserve?.release()
+    })
+
+    bench("spawn + destroy Multi-Joint Wheels (9 bodies, 8 joints)", () => {
+        const mech = spawnSystemMultiJoint.createMechanismFromParser(multiJointParser)
+        spawnSystemMultiJoint.destroyMechanism(mech)
+        mech.layerReserve?.release()
+    })
+})