Ragdoll benchmark (#838)

It turns out emscripten compiles fine on WSL.
Added benchmark for ragdolls.
Created shared library for code shared by samples, benchmarks, and unit
tests.
Now samples and benchmarks can run off the same code.
Fix solver set leak (thanks Melvyn)
Pinned imgui and glfw versions

CMakeLists.txt

@@ -112,6 +112,8 @@ if(PROJECT_IS_TOP_LEVEL)
 			GIT_PROGRESS TRUE
 		)
 		FetchContent_MakeAvailable(enkits)
+
+		add_subdirectory(shared)
 	endif()
 
 	# Tests need static linkage because they test internal Box2D functions

benchmark/CMakeLists.txt

@@ -1,23 +1,16 @@
 # Box2D benchmark app
 
-add_executable(benchmark
-    main.c
-    joint_grid.c
-    large_pyramid.c
-    many_pyramids.c
-    smash.c
-    spinner.c
-    tumbler.c
+set(BOX2D_BENCHMARK_FILES
+	main.c
 )
+add_executable(benchmark ${BOX2D_BENCHMARK_FILES})
 
-set_target_properties(benchmark PROPERTIES
-    C_STANDARD 17
-    C_STANDARD_REQUIRED YES
-    C_EXTENSIONS NO
-)
+set_target_properties(benchmark PROPERTIES C_STANDARD 17)
 
 if (MSVC)
 	target_compile_options(benchmark PRIVATE /experimental:c11atomics)
 endif()
 
-target_link_libraries(benchmark PRIVATE box2d enkiTS)
+target_link_libraries(benchmark PRIVATE box2d shared enkiTS)
+
+source_group(TREE ${CMAKE_CURRENT_SOURCE_DIR} PREFIX "" FILES ${BOX2D_BENCHMARK_FILES})

benchmark/amd7950x_avx2/joint_grid.csv

@@ -1,9 +1,9 @@
 threads,fps
-1,335.038
-2,638.117
-3,938.253
-4,1211.86
-5,1495.94
-6,1719.76
-7,1964.31
-8,2148.41
+1,200.145
+2,340.128
+3,496.707
+4,607.243
+5,698.173
+6,782.174
+7,856.148
+8,916.514

benchmark/amd7950x_avx2/large_pyramid.csv

@@ -1,9 +1,9 @@
 threads,fps
-1,334.105
-2,617.266
-3,895.838
-4,1131.52
-5,1338.68
-6,1503.01
-7,1686.74
-8,1721.57
+1,325.321
+2,615.892
+3,878.262
+4,1111.8
+5,1322.39
+6,1511.06
+7,1719
+8,1738.61

benchmark/amd7950x_avx2/many_pyramids.csv

@@ -1,9 +1,9 @@
 threads,fps
-1,85.2506
-2,163.857
-3,241.226
-4,309.927
-5,369.713
-6,431.47
-7,496.292
-8,547.372
+1,83.1212
+2,162.42
+3,238.035
+4,307.18
+5,374.76
+6,432.28
+7,501.138
+8,544.638

benchmark/amd7950x_avx2/rain.csv

@@ -0,0 +1,9 @@
+threads,fps
+1,154.443
+2,249.524
+3,323.318
+4,384.953
+5,434.035
+6,483.406
+7,527.558
+8,556.645

benchmark/amd7950x_avx2/smash.csv

@@ -1,9 +1,9 @@
 threads,fps
-1,180.404
-2,284.615
-3,364.465
-4,441.008
-5,495.098
-6,538.398
-7,578.614
-8,610.615
+1,197.528
+2,300.994
+3,385.163
+4,455.355
+5,508.735
+6,553.648
+7,589.206
+8,614.934

benchmark/amd7950x_avx2/spinner.csv

@@ -0,0 +1,9 @@
+threads,fps
+1,346.759
+2,538.038
+3,710.87
+4,871.698
+5,983.994
+6,1084.08
+7,1178.67
+8,1242.13

benchmark/amd7950x_avx2/tumbler.csv

@@ -1,9 +1,9 @@
 threads,fps
-1,385.465
-2,604.521
-3,790.813
-4,934.896
-5,1088.09
-6,1192.74
-7,1276.24
-8,1346.88
+1,464.164
+2,705.539
+3,932.064
+4,1133.55
+5,1297.75
+6,1444.39
+7,1563.34
+8,1633.51

benchmark/amd7950x_avx2_nc/joint_grid.csv

@@ -0,0 +1,9 @@
+threads,fps
+1,196.348
+2,335.206
+3,493.878
+4,598.194
+5,691.697
+6,776.717
+7,848.272
+8,910.073

benchmark/amd7950x_avx2_nc/large_pyramid.csv

@@ -0,0 +1,9 @@
+threads,fps
+1,326.839
+2,605.397
+3,874.098
+4,1108.62
+5,1311.67
+6,1500.33
+7,1684.32
+8,1736.04

benchmark/amd7950x_avx2_nc/many_pyramids.csv

@@ -0,0 +1,9 @@
+threads,fps
+1,84.1153
+2,163.509
+3,240.109
+4,302.481
+5,368.738
+6,428.312
+7,498.302
+8,545.101

benchmark/amd7950x_avx2_nc/rain.csv

@@ -0,0 +1,9 @@
+threads,fps
+1,161.863
+2,276.688
+3,358.757
+4,434.589
+5,500.599
+6,563.324
+7,620.21
+8,672.701

benchmark/amd7950x_avx2_nc/smash.csv

@@ -0,0 +1,9 @@
+threads,fps
+1,190.875
+2,302.452
+3,391.787
+4,472.507
+5,531.519
+6,582.197
+7,623.562
+8,654.127

benchmark/amd7950x_avx2_nc/spinner.csv

@@ -0,0 +1,9 @@
+threads,fps
+1,344.368
+2,562.345
+3,738.154
+4,916.335
+5,1049.29
+6,1167.4
+7,1280.44
+8,1362.46

benchmark/amd7950x_avx2_nc/tumbler.csv

@@ -0,0 +1,9 @@
+threads,fps
+1,449.556
+2,717.776
+3,934.15
+4,1136.18
+5,1315.11
+6,1470.1
+7,1599.57
+8,1700.46