Add navigation benchmarks.

Cargo.toml

@@ -71,4 +71,8 @@ criterion = { version = "0.5" }
 
 [[bench]]
 name = "simple_geometry"
+harness = false
+
+[[bench]]
+name = "simple_navigation"
 harness = false

benches/simple_navigation.rs

@@ -0,0 +1,108 @@
+use bevy::{prelude::{UVec2, Transform, Vec3}, utils::HashMap};
+use criterion::{Criterion, criterion_group, criterion_main, black_box};
+use oxidized_navigation::{build_tile_sync, NavMeshSettings, conversion::{GeometryToConvert, GeometryCollection, ColliderType}, tiles::{NavMeshTile, NavMeshTiles}, query::find_path};
+use parry3d::shape::Cuboid;
+
+
+fn generate_single_primitive_geometry(nav_mesh_settings: &NavMeshSettings) -> NavMeshTile {
+    let tile_coord = UVec2::new(0, 0);
+    let heightfields = vec![];
+
+
+    let geometry_collections = vec![
+        GeometryCollection {
+            transform: Transform::from_xyz(0.0, 0.0, 0.0),
+            geometry_to_convert: GeometryToConvert::Collider(ColliderType::Cuboid(Cuboid::new(Vec3::new(10.0, 0.2, 10.0).into()))),
+            area: None
+        }
+    ];
+
+    build_tile_sync(geometry_collections, tile_coord, heightfields, nav_mesh_settings)
+}
+
+fn generate_many_primitive_geometry(nav_mesh_settings: &NavMeshSettings) -> NavMeshTile {
+    let tile_coord = UVec2::new(0, 0);
+    let heightfields = vec![];
+
+    let geometry_collections = vec![
+        GeometryCollection {
+            transform: Transform::from_xyz(0.0, 0.0, 0.0),
+            geometry_to_convert: GeometryToConvert::Collider(ColliderType::Cuboid(Cuboid::new(Vec3::new(10.0, 0.2, 10.0).into()))),
+            area: None
+        },
+        GeometryCollection {
+            transform: Transform::from_xyz(5.0, 1.0, 0.0),
+            geometry_to_convert: GeometryToConvert::Collider(ColliderType::Cuboid(Cuboid::new(Vec3::new(1.0, 1.0, 1.0).into()))),
+            area: None
+        },
+        GeometryCollection {
+            transform: Transform::from_xyz(-5.0, 1.0, 2.0),
+            geometry_to_convert: GeometryToConvert::Collider(ColliderType::Cuboid(Cuboid::new(Vec3::new(4.0, 1.0, 1.0).into()))),
+            area: None
+        },
+        GeometryCollection {
+            transform: Transform::from_xyz(-2.5, 2.0, 2.0),
+            geometry_to_convert: GeometryToConvert::Collider(ColliderType::Cuboid(Cuboid::new(Vec3::new(1.0, 2.0, 1.0).into()))),
+            area: None
+        },
+        GeometryCollection {
+            transform: Transform::from_xyz(-2.5, 2.0, -2.0),
+            geometry_to_convert: GeometryToConvert::Collider(ColliderType::Cuboid(Cuboid::new(Vec3::new(1.0, 2.0, 1.0).into()))),
+            area: None
+        }
+    ];
+
+    build_tile_sync(geometry_collections, tile_coord, heightfields, nav_mesh_settings)
+}
+
+fn criterion_benchmark(c: &mut Criterion) {
+    let nav_mesh_settings = NavMeshSettings {
+        cell_width: 0.25,
+        cell_height: 0.1,
+        tile_width: 100,
+        world_half_extents: 12.5,
+        world_bottom_bound: -100.0,
+        max_traversable_slope_radians: (40.0_f32 - 0.1).to_radians(),
+        walkable_height: 20,
+        walkable_radius: 1,
+        step_height: 3,
+        min_region_area: 100,
+        merge_region_area: 500,
+        max_contour_simplification_error: 1.1,
+        max_edge_length: 80,
+        max_tile_generation_tasks: Some(1),
+    };
+
+    let simple_tiles = NavMeshTiles {
+        tiles: vec![(UVec2::ZERO, generate_single_primitive_geometry(&nav_mesh_settings))].into_iter().collect(),
+        tile_generations: HashMap::default(),
+    };
+    let many_tiles = NavMeshTiles {
+        tiles: vec![(UVec2::ZERO, generate_many_primitive_geometry(&nav_mesh_settings))].into_iter().collect(),
+        tile_generations: HashMap::default(),
+    };
+
+    c.bench_function("Simple Navigation", |b| b.iter(|| 
+        black_box(find_path(
+            &simple_tiles,
+            &nav_mesh_settings,
+            Vec3::new(5.0, 0.0, 5.0),
+            Vec3::new(0.0, 0.0, 0.0),
+            None,
+            None
+        ))
+    ));
+    c.bench_function("Many Navigation", |b| b.iter(|| 
+        black_box(find_path(
+            &many_tiles,
+            &nav_mesh_settings,
+            Vec3::new(5.0, 0.0, 5.0),
+            Vec3::new(0.0, 0.0, 0.0),
+            None,
+            None
+        ))
+    ));
+}
+
+criterion_group!(benches, criterion_benchmark);
+criterion_main!(benches);

src/tiles.rs

@@ -73,8 +73,8 @@ impl NavMeshTile {
 /// Call [crate::query::find_path] to run pathfinding algorithm.
 #[derive(Default)]
 pub struct NavMeshTiles {
-    pub(super) tiles: HashMap<UVec2, NavMeshTile>,
-    pub(super) tile_generations: HashMap<UVec2, u64>,
+    pub tiles: HashMap<UVec2, NavMeshTile>,
+    pub tile_generations: HashMap<UVec2, u64>,
 }
 
 impl NavMeshTiles {