Optimize `wake_on_collision_ended` when large number of collisions are occurring

[datael]

Objective

• With a large number of colliding bodies, I was seeing wake_on_collision_ended use almost as much time as run_substep_schedule in some cases
• I narrowed the slowness down to evaluation of this if condition
  • Evaluating this once takes around 3μs on my laptop which isn't a huge deal on its own, but when there's 2500 colliders it started to add up to multiple milliseconds

Solution

• In wake_on_collision_ended, skip the body of the first for loop (over sleeping) if the following both hold true:
  • The body does not already have a Sleeping component
  • TimeSleeping is 0.0

I believe this is ok because the side-effects of that loop is to remove the Sleeping component and to reset TimeSleeping to zero, which is exactly the condition it now tests for. Therefore, if the entity is already in that state, there's no point in executing the relatively costly if statement here (as mentioned above).

• Since it now also already knows if the Sleeping component is present, I gated the commands.entity(entity).remove::<Sleeping>(); calls so that it only adds that command if the component is present

  • This should save a few lookups on Bevy's end, but isn't strictly necessary for this PR

• It may also be worth gating the sleeping query on Without<SleepingDisabled> but I wasn't sure how correct that was

  • If we think it's worth it, we could add that too so that bodies with sleeping disabled aren't even considered here

Results

Large numbers of colliders (here, 2500) showed a near 1000x improvement in execution time of wake_on_collision_ended, going from multiple milliseconds to a few microseconds when none of the bodies are sleeping:

Performance regressed for small numbers of colliders (here, 100), however this is regression at the microseconds level (3.5μs to 15.5μs median), so I posit that this is a worthy tradeoff: (removed; I had the traces backwards)

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Changelog

• SleepingPlugin's wake_on_collision_ended system
  • sleeping query now includes Has<Sleeping>
  • first loop in system body skips anything that isn't already sleeping or about to sleep
  • don't remove Sleeping component if Has<Sleeping>resolved to false

[datael]

Correction: This is still an improvement for 100 colliders, though as mentioned in the original post it's in the region of microseconds so isn't particularly notable:

[datael]

Assuming I'm looking at the correct section of the trace, gating the removal of Sleeping on the entity actually having it is also an improvement over previous, but this is even more negligible than the 100 collider case

[datael]

As a sanity check and to rule out that it wasn't something particular in my scene, this is the move_marbles example in avian2d: