Add cart's fork of ecs_bench_suite (#4225)

# Objective
Better benchmarking for ECS. Fix #2062.

## Solution
Port @cart's fork of ecs_bench_suite to the official bench suite for bevy_ecs, replace cgmath with glam, update to latest bevy.

benches/Cargo.toml

@@ -7,10 +7,16 @@ publish = false
 license = "MIT OR Apache-2.0"
 
 [dev-dependencies]
+glam = "0.20"
 criterion = "0.3"
 bevy_ecs = { path = "../crates/bevy_ecs" }
 bevy_tasks = { path = "../crates/bevy_tasks" }
 
+[[bench]]
+name = "ecs_bench_suite"
+path = "benches/bevy_ecs/ecs_bench_suite/mod.rs"
+harness = false
+
 [[bench]]
 name = "system_stage"
 path = "benches/bevy_ecs/stages.rs"

benches/benches/bevy_ecs/ecs_bench_suite/add_remove.rs

@@ -0,0 +1,30 @@
+use bevy::prelude::*;
+
+#[derive(Component)]
+struct A(f32);
+#[derive(Component)]
+struct B(f32);
+
+pub struct Benchmark(World, Vec<Entity>);
+
+impl Benchmark {
+    pub fn new() -> Self {
+        let mut world = World::default();
+
+        let entities = world
+            .spawn_batch((0..10000).map(|_| (A(0.0),)))
+            .collect::<Vec<_>>();
+
+        Self(world, entities)
+    }
+
+    pub fn run(&mut self) {
+        for entity in &self.1 {
+            self.0.insert_one(*entity, B(0.0)).unwrap();
+        }
+
+        for entity in &self.1 {
+            self.0.remove_one::<B>(*entity).unwrap();
+        }
+    }
+}

benches/benches/bevy_ecs/ecs_bench_suite/add_remove_big_sparse_set.rs

@@ -0,0 +1,55 @@
+use bevy_ecs::prelude::*;
+use glam::*;
+
+#[derive(Component, Copy, Clone)]
+struct A(Mat4);
+#[derive(Component, Copy, Clone)]
+struct B(Mat4);
+
+#[derive(Component, Copy, Clone)]
+struct C(Mat4);
+#[derive(Component, Copy, Clone)]
+struct D(Mat4);
+
+#[derive(Component, Copy, Clone)]
+struct E(Mat4);
+
+#[derive(Component, Copy, Clone)]
+#[component(storage = "SparseSet")]
+struct F(Mat4);
+pub struct Benchmark(World, Vec<Entity>);
+
+impl Benchmark {
+    pub fn new() -> Self {
+        let mut world = World::default();
+        let mut entities = Vec::with_capacity(10_000);
+        for _ in 0..10_000 {
+            entities.push(
+                world
+                    .spawn()
+                    .insert_bundle((
+                        A(Mat4::from_scale(Vec3::ONE)),
+                        B(Mat4::from_scale(Vec3::ONE)),
+                        C(Mat4::from_scale(Vec3::ONE)),
+                        D(Mat4::from_scale(Vec3::ONE)),
+                        E(Mat4::from_scale(Vec3::ONE)),
+                    ))
+                    .id(),
+            );
+        }
+
+        Self(world, entities)
+    }
+
+    pub fn run(&mut self) {
+        for entity in &self.1 {
+            self.0
+                .entity_mut(*entity)
+                .insert(F(Mat4::from_scale(Vec3::ONE)));
+        }
+
+        for entity in &self.1 {
+            self.0.entity_mut(*entity).remove::<F>();
+        }
+    }
+}

benches/benches/bevy_ecs/ecs_bench_suite/add_remove_big_table.rs

@@ -0,0 +1,54 @@
+use bevy_ecs::prelude::*;
+use glam::*;
+
+#[derive(Component, Copy, Clone)]
+struct A(Mat4);
+#[derive(Component, Copy, Clone)]
+struct B(Mat4);
+
+#[derive(Component, Copy, Clone)]
+struct C(Mat4);
+#[derive(Component, Copy, Clone)]
+struct D(Mat4);
+
+#[derive(Component, Copy, Clone)]
+struct E(Mat4);
+
+#[derive(Component, Copy, Clone)]
+struct F(Mat4);
+pub struct Benchmark(World, Vec<Entity>);
+
+impl Benchmark {
+    pub fn new() -> Self {
+        let mut world = World::default();
+        let mut entities = Vec::with_capacity(10_000);
+        for _ in 0..10_000 {
+            entities.push(
+                world
+                    .spawn()
+                    .insert_bundle((
+                        A(Mat4::from_scale(Vec3::ONE)),
+                        B(Mat4::from_scale(Vec3::ONE)),
+                        C(Mat4::from_scale(Vec3::ONE)),
+                        D(Mat4::from_scale(Vec3::ONE)),
+                        E(Mat4::from_scale(Vec3::ONE)),
+                    ))
+                    .id(),
+            );
+        }
+
+        Self(world, entities)
+    }
+
+    pub fn run(&mut self) {
+        for entity in &self.1 {
+            self.0
+                .entity_mut(*entity)
+                .insert(F(Mat4::from_scale(Vec3::ONE)));
+        }
+
+        for entity in &self.1 {
+            self.0.entity_mut(*entity).remove::<F>();
+        }
+    }
+}

benches/benches/bevy_ecs/ecs_bench_suite/add_remove_sparse_set.rs

@@ -0,0 +1,31 @@
+use bevy_ecs::prelude::*;
+
+#[derive(Component)]
+struct A(f32);
+#[derive(Component)]
+#[component(storage = "SparseSet")]
+struct B(f32);
+
+pub struct Benchmark(World, Vec<Entity>);
+
+impl Benchmark {
+    pub fn new() -> Self {
+        let mut world = World::default();
+        let mut entities = Vec::with_capacity(10_000);
+        for _ in 0..10_000 {
+            entities.push(world.spawn().insert(A(0.0)).id());
+        }
+
+        Self(world, entities)
+    }
+
+    pub fn run(&mut self) {
+        for entity in &self.1 {
+            self.0.entity_mut(*entity).insert(B(0.0));
+        }
+
+        for entity in &self.1 {
+            self.0.entity_mut(*entity).remove::<B>();
+        }
+    }
+}

benches/benches/bevy_ecs/ecs_bench_suite/add_remove_table.rs

@@ -0,0 +1,30 @@
+use bevy_ecs::prelude::*;
+
+#[derive(Component)]
+struct A(f32);
+#[derive(Component)]
+struct B(f32);
+
+pub struct Benchmark(World, Vec<Entity>);
+
+impl Benchmark {
+    pub fn new() -> Self {
+        let mut world = World::default();
+        let mut entities = Vec::with_capacity(10_000);
+        for _ in 0..10_000 {
+            entities.push(world.spawn().insert(A(0.0)).id());
+        }
+
+        Self(world, entities)
+    }
+
+    pub fn run(&mut self) {
+        for entity in &self.1 {
+            self.0.entity_mut(*entity).insert(B(0.0));
+        }
+
+        for entity in &self.1 {
+            self.0.entity_mut(*entity).remove::<B>();
+        }
+    }
+}

benches/benches/bevy_ecs/ecs_bench_suite/frag_iter.rs

@@ -0,0 +1,35 @@
+use bevy_ecs::prelude::*;
+
+macro_rules! create_entities {
+    ($world:ident; $( $variants:ident ),*) => {
+        $(
+            #[derive(Component)]
+            struct $variants(f32);
+            for _ in 0..20 {
+                $world.spawn().insert_bundle(($variants(0.0), Data(1.0)));
+            }
+        )*
+    };
+}
+
+#[derive(Component)]
+struct Data(f32);
+
+pub struct Benchmark<'w>(World, QueryState<&'w mut Data>);
+
+impl<'w> Benchmark<'w> {
+    pub fn new() -> Self {
+        let mut world = World::new();
+
+        create_entities!(world; A, B, C, D, E, F, G, H, I, J, K, L, M, N, O, P, Q, R, S, T, U, V, W, X, Y, Z);
+
+        let query = world.query::<&mut Data>();
+        Self(world, query)
+    }
+
+    pub fn run(&mut self) {
+        for mut data in self.1.iter_mut(&mut self.0) {
+            data.0 *= 2.0;
+        }
+    }
+}

benches/benches/bevy_ecs/ecs_bench_suite/frag_iter_foreach.rs

@@ -0,0 +1,35 @@
+use bevy_ecs::prelude::*;
+
+macro_rules! create_entities {
+    ($world:ident; $( $variants:ident ),*) => {
+        $(
+            #[derive(Component)]
+            struct $variants(f32);
+            for _ in 0..20 {
+                $world.spawn().insert_bundle(($variants(0.0), Data(1.0)));
+            }
+        )*
+    };
+}
+
+#[derive(Component)]
+struct Data(f32);
+
+pub struct Benchmark<'w>(World, QueryState<&'w mut Data>);
+
+impl<'w> Benchmark<'w> {
+    pub fn new() -> Self {
+        let mut world = World::new();
+
+        create_entities!(world; A, B, C, D, E, F, G, H, I, J, K, L, M, N, O, P, Q, R, S, T, U, V, W, X, Y, Z);
+
+        let query = world.query::<&mut Data>();
+        Self(world, query)
+    }
+
+    pub fn run(&mut self) {
+        self.1.for_each_mut(&mut self.0, |mut data| {
+            data.0 *= 2.0;
+        });
+    }
+}

benches/benches/bevy_ecs/ecs_bench_suite/get_component.rs

@@ -0,0 +1,23 @@
+use bevy_ecs::prelude::*;
+
+#[derive(Component)]
+struct A(f32);
+
+pub struct Benchmark<'w>(World, Entity, QueryState<&'w mut A>);
+
+impl<'w> Benchmark<'w> {
+    pub fn new() -> Self {
+        let mut world = World::new();
+
+        let entity = world.spawn().insert(A(0.0)).id();
+        let query = world.query::<&mut A>();
+        Self(world, entity, query)
+    }
+
+    pub fn run(&mut self) {
+        for _x in 0..100000 {
+            let mut a = unsafe { self.2.get_unchecked(&mut self.0, self.1).unwrap() };
+            a.0 += 1.0;
+        }
+    }
+}

benches/benches/bevy_ecs/ecs_bench_suite/get_component_system.rs

@@ -0,0 +1,31 @@
+use bevy_ecs::prelude::*;
+
+#[derive(Component)]
+struct A(f32);
+
+pub struct Benchmark(World, Entity, Box<dyn System<In = Entity, Out = ()>>);
+
+impl Benchmark {
+    pub fn new() -> Self {
+        let mut world = World::new();
+
+        let entity = world.spawn().insert(A(0.0)).id();
+        fn query_system(In(entity): In<Entity>, mut query: Query<&mut A>) {
+            for _ in 0..100_000 {
+                let mut a = query.get_mut(entity).unwrap();
+                a.0 += 1.0;
+            }
+        }
+
+        let mut system = IntoSystem::into_system(query_system);
+        system.initialize(&mut world);
+        for archetype in world.archetypes().iter() {
+            system.new_archetype(archetype);
+        }
+        Self(world, entity, Box::new(system))
+    }
+
+    pub fn run(&mut self) {
+        self.2.run(self.1, &mut self.0);
+    }
+}

benches/benches/bevy_ecs/ecs_bench_suite/heavy_compute.rs

@@ -0,0 +1,55 @@
+use bevy_ecs::prelude::*;
+use bevy_tasks::TaskPool;
+use glam::*;
+
+#[derive(Component, Copy, Clone)]
+struct Position(Vec3);
+
+#[derive(Component, Copy, Clone)]
+struct Rotation(Vec3);
+
+#[derive(Component, Copy, Clone)]
+struct Velocity(Vec3);
+
+#[derive(Component, Copy, Clone)]
+struct Transform(Mat4);
+
+pub struct Benchmark(World, Box<dyn System<In = (), Out = ()>>);
+
+impl Benchmark {
+    pub fn new() -> Self {
+        let mut world = World::default();
+
+        world.spawn_batch((0..1000).map(|_| {
+            (
+                Transform(Mat4::from_axis_angle(Vec3::X, 1.2)),
+                Position(Vec3::X),
+                Rotation(Vec3::X),
+                Velocity(Vec3::X),
+            )
+        }));
+
+        fn sys(task_pool: Res<TaskPool>, mut query: Query<(&mut Position, &mut Transform)>) {
+            query.par_for_each_mut(&task_pool, 128, |(mut pos, mut mat)| {
+                for _ in 0..100 {
+                    mat.0 = mat.0.inverse();
+                }
+
+                pos.0 = mat.0.transform_vector3(pos.0);
+            });
+        }
+
+        world.insert_resource(TaskPool::default());
+        let mut system = IntoSystem::into_system(sys);
+        system.initialize(&mut world);
+        for archetype in world.archetypes().iter() {
+            system.new_archetype(archetype);
+        }
+
+        Self(world, Box::new(system))
+    }
+
+    pub fn run(&mut self) {
+        self.1.run((), &mut self.0);
+    }
+}

benches/benches/bevy_ecs/ecs_bench_suite/mod.rs

@@ -0,0 +1,174 @@
+use criterion::*;
+
+mod add_remove_big_sparse_set;
+mod add_remove_big_table;
+mod add_remove_sparse_set;
+mod add_remove_table;
+mod frag_iter;
+mod frag_iter_foreach;
+mod get_component;
+mod get_component_system;
+mod heavy_compute;
+mod schedule;
+mod simple_insert;
+mod simple_insert_unbatched;
+mod simple_iter;
+mod simple_iter_foreach;
+mod simple_iter_sparse;
+mod simple_iter_sparse_foreach;
+mod simple_iter_system;
+mod sparse_frag_iter;
+mod sparse_frag_iter_foreach;
+
+fn bench_simple_insert(c: &mut Criterion) {
+    let mut group = c.benchmark_group("simple_insert");
+    group.warm_up_time(std::time::Duration::from_millis(500));
+    group.measurement_time(std::time::Duration::from_secs(4));
+    group.bench_function("base", |b| {
+        let mut bench = simple_insert::Benchmark::new();
+        b.iter(move || bench.run());
+    });
+    group.bench_function("unbatched", |b| {
+        let mut bench = simple_insert_unbatched::Benchmark::new();
+        b.iter(move || bench.run());
+    });
+    group.finish();
+}
+
+fn bench_simple_iter(c: &mut Criterion) {
+    let mut group = c.benchmark_group("simple_iter");
+    group.warm_up_time(std::time::Duration::from_millis(500));
+    group.measurement_time(std::time::Duration::from_secs(4));
+    group.bench_function("base", |b| {
+        let mut bench = simple_iter::Benchmark::new();
+        b.iter(move || bench.run());
+    });
+    group.bench_function("system", |b| {
+        let mut bench = simple_iter_system::Benchmark::new();
+        b.iter(move || bench.run());
+    });
+    group.bench_function("sparse", |b| {
+        let mut bench = simple_iter_sparse::Benchmark::new();
+        b.iter(move || bench.run());
+    });
+    group.bench_function("foreach", |b| {
+        let mut bench = simple_iter_foreach::Benchmark::new();
+        b.iter(move || bench.run());
+    });
+    group.bench_function("sparse_foreach", |b| {
+        let mut bench = simple_iter_sparse_foreach::Benchmark::new();
+        b.iter(move || bench.run());
+    });
+    group.finish();
+}
+
+fn bench_frag_iter_bc(c: &mut Criterion) {
+    let mut group = c.benchmark_group("fragmented_iter");
+    group.warm_up_time(std::time::Duration::from_millis(500));
+    group.measurement_time(std::time::Duration::from_secs(4));
+    group.bench_function("base", |b| {
+        let mut bench = frag_iter::Benchmark::new();
+        b.iter(move || bench.run());
+    });
+    group.bench_function("foreach", |b| {
+        let mut bench = frag_iter_foreach::Benchmark::new();
+        b.iter(move || bench.run());
+    });
+    group.finish();
+}
+
+fn bench_sparse_frag_iter(c: &mut Criterion) {
+    let mut group = c.benchmark_group("sparse_fragmented_iter");
+    group.warm_up_time(std::time::Duration::from_millis(500));
+    group.measurement_time(std::time::Duration::from_secs(4));
+    group.bench_function("base", |b| {
+        let mut bench = sparse_frag_iter::Benchmark::new();
+        b.iter(move || bench.run());
+    });
+    group.bench_function("foreach", |b| {
+        let mut bench = sparse_frag_iter_foreach::Benchmark::new();
+        b.iter(move || bench.run());
+    });
+    group.finish();
+}
+
+fn bench_schedule(c: &mut Criterion) {
+    let mut group = c.benchmark_group("schedule");
+    group.warm_up_time(std::time::Duration::from_millis(500));
+    group.measurement_time(std::time::Duration::from_secs(4));
+    group.bench_function("base", |b| {
+        let mut bench = schedule::Benchmark::new();
+        b.iter(move || bench.run());
+    });
+    group.finish();
+}
+
+fn bench_heavy_compute(c: &mut Criterion) {
+    let mut group = c.benchmark_group("heavy_compute");
+    group.warm_up_time(std::time::Duration::from_millis(500));
+    group.measurement_time(std::time::Duration::from_secs(4));
+    group.bench_function("base", |b| {
+        let mut bench = heavy_compute::Benchmark::new();
+        b.iter(move || bench.run());
+    });
+    group.finish();
+}
+
+fn bench_add_remove(c: &mut Criterion) {
+    let mut group = c.benchmark_group("add_remove_component");
+    group.warm_up_time(std::time::Duration::from_millis(500));
+    group.measurement_time(std::time::Duration::from_secs(4));
+    group.bench_function("table", |b| {
+        let mut bench = add_remove_table::Benchmark::new();
+        b.iter(move || bench.run());
+    });
+    group.bench_function("sparse_set", |b| {
+        let mut bench = add_remove_sparse_set::Benchmark::new();
+        b.iter(move || bench.run());
+    });
+    group.finish();
+}
+
+fn bench_add_remove_big(c: &mut Criterion) {
+    let mut group = c.benchmark_group("add_remove_component_big");
+    group.warm_up_time(std::time::Duration::from_millis(500));
+    group.measurement_time(std::time::Duration::from_secs(4));
+    group.bench_function("table", |b| {
+        let mut bench = add_remove_big_table::Benchmark::new();
+        b.iter(move || bench.run());
+    });
+    group.bench_function("sparse_set", |b| {
+        let mut bench = add_remove_big_sparse_set::Benchmark::new();
+        b.iter(move || bench.run());
+    });
+    group.finish();
+}
+
+fn bench_get_component(c: &mut Criterion) {
+    let mut group = c.benchmark_group("get_component");
+    group.warm_up_time(std::time::Duration::from_millis(500));
+    group.measurement_time(std::time::Duration::from_secs(4));
+    group.bench_function("base", |b| {
+        let mut bench = get_component::Benchmark::new();
+        b.iter(move || bench.run());
+    });
+    group.bench_function("system", |b| {
+        let mut bench = get_component_system::Benchmark::new();
+        b.iter(move || bench.run());
+    });
+    group.finish();
+}
+
+criterion_group!(
+    benchmarks,
+    bench_simple_insert,
+    bench_simple_iter,
+    bench_frag_iter_bc,
+    bench_sparse_frag_iter,
+    bench_schedule,
+    bench_heavy_compute,
+    bench_add_remove,
+    bench_add_remove_big,
+    bench_get_component,
+);
+criterion_main!(benchmarks);

benches/benches/bevy_ecs/ecs_bench_suite/schedule.rs

@@ -0,0 +1,58 @@
+use bevy_ecs::prelude::*;
+
+#[derive(Component)]
+struct A(f32);
+#[derive(Component)]
+struct B(f32);
+#[derive(Component)]
+struct C(f32);
+#[derive(Component)]
+struct D(f32);
+#[derive(Component)]
+struct E(f32);
+
+fn ab(mut query: Query<(&mut A, &mut B)>) {
+    query.for_each_mut(|(mut a, mut b)| {
+        std::mem::swap(&mut a.0, &mut b.0);
+    });
+}
+
+fn cd(mut query: Query<(&mut C, &mut D)>) {
+    query.for_each_mut(|(mut c, mut d)| {
+        std::mem::swap(&mut c.0, &mut d.0);
+    });
+}
+
+fn ce(mut query: Query<(&mut C, &mut E)>) {
+    query.for_each_mut(|(mut c, mut e)| {
+        std::mem::swap(&mut c.0, &mut e.0);
+    });
+}
+
+pub struct Benchmark(World, SystemStage);
+
+impl Benchmark {
+    pub fn new() -> Self {
+        let mut world = World::default();
+
+        world.spawn_batch((0..10000).map(|_| (A(0.0), B(0.0))));
+
+        world.spawn_batch((0..10000).map(|_| (A(0.0), B(0.0), C(0.0))));
+
+        world.spawn_batch((0..10000).map(|_| (A(0.0), B(0.0), C(0.0), D(0.0))));
+
+        world.spawn_batch((0..10000).map(|_| (A(0.0), B(0.0), C(0.0), E(0.0))));
+
+        let mut stage = SystemStage::parallel();
+        stage.add_system(ab);
+        stage.add_system(cd);
+        stage.add_system(ce);
+        stage.run(&mut world);
+
+        Self(world, stage)
+    }
+
+    pub fn run(&mut self) {
+        self.1.run(&mut self.0);
+    }
+}

benches/benches/bevy_ecs/ecs_bench_suite/simple_insert.rs

@@ -0,0 +1,34 @@
+use bevy_ecs::prelude::*;
+use glam::*;
+
+#[derive(Component, Copy, Clone)]
+struct Transform(Mat4);
+
+#[derive(Component, Copy, Clone)]
+struct Position(Vec3);
+
+#[derive(Component, Copy, Clone)]
+struct Rotation(Vec3);
+
+#[derive(Component, Copy, Clone)]
+struct Velocity(Vec3);
+
+pub struct Benchmark;
+
+impl Benchmark {
+    pub fn new() -> Self {
+        Self
+    }
+
+    pub fn run(&mut self) {
+        let mut world = World::new();
+        world.spawn_batch((0..10_000).map(|_| {
+            (
+                Transform(Mat4::from_scale(Vec3::ONE)),
+                Position(Vec3::X),
+                Rotation(Vec3::X),
+                Velocity(Vec3::X),
+            )
+        }));
+    }
+}

benches/benches/bevy_ecs/ecs_bench_suite/simple_insert_unbatched.rs

@@ -0,0 +1,34 @@
+use bevy_ecs::prelude::*;
+use glam::*;
+
+#[derive(Component, Copy, Clone)]
+struct Transform(Mat4);
+
+#[derive(Component, Copy, Clone)]
+struct Position(Vec3);
+
+#[derive(Component, Copy, Clone)]
+struct Rotation(Vec3);
+
+#[derive(Component, Copy, Clone)]
+struct Velocity(Vec3);
+
+pub struct Benchmark;
+
+impl Benchmark {
+    pub fn new() -> Self {
+        Self
+    }
+
+    pub fn run(&mut self) {
+        let mut world = World::new();
+        for _ in 0..10_000 {
+            world.spawn().insert_bundle((
+                Transform(Mat4::from_scale(Vec3::ONE)),
+                Position(Vec3::X),
+                Rotation(Vec3::X),
+                Velocity(Vec3::X),
+            ));
+        }
+    }
+}

benches/benches/bevy_ecs/ecs_bench_suite/simple_iter.rs

@@ -0,0 +1,41 @@
+use bevy_ecs::prelude::*;
+use glam::*;
+
+#[derive(Component, Copy, Clone)]
+struct Transform(Mat4);
+
+#[derive(Component, Copy, Clone)]
+struct Position(Vec3);
+
+#[derive(Component, Copy, Clone)]
+struct Rotation(Vec3);
+
+#[derive(Component, Copy, Clone)]
+struct Velocity(Vec3);
+
+pub struct Benchmark<'w>(World, QueryState<(&'w Velocity, &'w mut Position)>);
+
+impl<'w> Benchmark<'w> {
+    pub fn new() -> Self {
+        let mut world = World::new();
+
+        // TODO: batch this
+        for _ in 0..10_000 {
+            world.spawn().insert_bundle((
+                Transform(Mat4::from_scale(Vec3::ONE)),
+                Position(Vec3::X),
+                Rotation(Vec3::X),
+                Velocity(Vec3::X),
+            ));
+        }
+
+        let query = world.query::<(&Velocity, &mut Position)>();
+        Self(world, query)
+    }
+
+    pub fn run(&mut self) {
+        for (velocity, mut position) in self.1.iter_mut(&mut self.0) {
+            position.0 += velocity.0;
+        }
+    }
+}

benches/benches/bevy_ecs/ecs_bench_suite/simple_iter_foreach.rs

@@ -0,0 +1,42 @@
+use bevy_ecs::prelude::*;
+use glam::*;
+
+#[derive(Component, Copy, Clone)]
+struct Transform(Mat4);
+
+#[derive(Component, Copy, Clone)]
+struct Position(Vec3);
+
+#[derive(Component, Copy, Clone)]
+struct Rotation(Vec3);
+
+#[derive(Component, Copy, Clone)]
+struct Velocity(Vec3);
+
+pub struct Benchmark<'w>(World, QueryState<(&'w Velocity, &'w mut Position)>);
+
+impl<'w> Benchmark<'w> {
+    pub fn new() -> Self {
+        let mut world = World::new();
+
+        // TODO: batch this
+        for _ in 0..10_000 {
+            world.spawn().insert_bundle((
+                Transform(Mat4::from_scale(Vec3::ONE)),
+                Position(Vec3::X),
+                Rotation(Vec3::X),
+                Velocity(Vec3::X),
+            ));
+        }
+
+        let query = world.query::<(&Velocity, &mut Position)>();
+        Self(world, query)
+    }
+
+    pub fn run(&mut self) {
+        self.1
+            .for_each_mut(&mut self.0, |(velocity, mut position)| {
+                position.0 += velocity.0;
+            });
+    }
+}

benches/benches/bevy_ecs/ecs_bench_suite/simple_iter_sparse.rs

@@ -0,0 +1,43 @@
+use bevy_ecs::prelude::*;
+use glam::*;
+
+#[derive(Component, Copy, Clone)]
+struct Transform(Mat4);
+
+#[derive(Component, Copy, Clone)]
+#[component(storage = "SparseSet")]
+struct Position(Vec3);
+
+#[derive(Component, Copy, Clone)]
+struct Rotation(Vec3);
+
+#[derive(Component, Copy, Clone)]
+#[component(storage = "SparseSet")]
+struct Velocity(Vec3);
+
+pub struct Benchmark<'w>(World, QueryState<(&'w Velocity, &'w mut Position)>);
+
+impl<'w> Benchmark<'w> {
+    pub fn new() -> Self {
+        let mut world = World::new();
+
+        // TODO: batch this
+        for _ in 0..10_000 {
+            world.spawn().insert_bundle((
+                Transform(Mat4::from_scale(Vec3::ONE)),
+                Position(Vec3::X),
+                Rotation(Vec3::X),
+                Velocity(Vec3::X),
+            ));
+        }
+
+        let query = world.query::<(&Velocity, &mut Position)>();
+        Self(world, query)
+    }
+
+    pub fn run(&mut self) {
+        for (velocity, mut position) in self.1.iter_mut(&mut self.0) {
+            position.0 += velocity.0;
+        }
+    }
+}

benches/benches/bevy_ecs/ecs_bench_suite/simple_iter_sparse_foreach.rs

@@ -0,0 +1,44 @@
+use bevy_ecs::prelude::*;
+use glam::*;
+
+#[derive(Component, Copy, Clone)]
+struct Transform(Mat4);
+
+#[derive(Component, Copy, Clone)]
+#[component(storage = "SparseSet")]
+struct Position(Vec3);
+
+#[derive(Component, Copy, Clone)]
+struct Rotation(Vec3);
+
+#[derive(Component, Copy, Clone)]
+#[component(storage = "SparseSet")]
+struct Velocity(Vec3);
+
+pub struct Benchmark<'w>(World, QueryState<(&'w Velocity, &'w mut Position)>);
+
+impl<'w> Benchmark<'w> {
+    pub fn new() -> Self {
+        let mut world = World::new();
+
+        // TODO: batch this
+        for _ in 0..10_000 {
+            world.spawn().insert_bundle((
+                Transform(Mat4::from_scale(Vec3::ONE)),
+                Position(Vec3::X),
+                Rotation(Vec3::X),
+                Velocity(Vec3::X),
+            ));
+        }
+
+        let query = world.query::<(&Velocity, &mut Position)>();
+        Self(world, query)
+    }
+
+    pub fn run(&mut self) {
+        self.1
+            .for_each_mut(&mut self.0, |(velocity, mut position)| {
+                position.0 += velocity.0;
+            });
+    }
+}

benches/benches/bevy_ecs/ecs_bench_suite/simple_iter_system.rs

@@ -0,0 +1,49 @@
+use bevy_ecs::prelude::*;
+use glam::*;
+
+#[derive(Component, Copy, Clone)]
+struct Transform(Mat4);
+
+#[derive(Component, Copy, Clone)]
+struct Position(Vec3);
+
+#[derive(Component, Copy, Clone)]
+struct Rotation(Vec3);
+
+#[derive(Component, Copy, Clone)]
+struct Velocity(Vec3);
+
+pub struct Benchmark(World, Box<dyn System<In = (), Out = ()>>);
+
+impl Benchmark {
+    pub fn new() -> Self {
+        let mut world = World::new();
+
+        // TODO: batch this
+        for _ in 0..10_000 {
+            world.spawn().insert_bundle((
+                Transform(Mat4::from_scale(Vec3::ONE)),
+                Position(Vec3::X),
+                Rotation(Vec3::X),
+                Velocity(Vec3::X),
+            ));
+        }
+
+        fn query_system(mut query: Query<(&Velocity, &mut Position)>) {
+            for (velocity, mut position) in query.iter_mut() {
+                position.0 += velocity.0;
+            }
+        }
+
+        let mut system = IntoSystem::into_system(query_system);
+        system.initialize(&mut world);
+        for archetype in world.archetypes().iter() {
+            system.new_archetype(archetype);
+        }
+        Self(world, Box::new(system))
+    }
+
+    pub fn run(&mut self) {
+        self.1.run((), &mut self.0);
+    }
+}

benches/benches/bevy_ecs/ecs_bench_suite/sparse_frag_iter.rs

@@ -0,0 +1,46 @@
+use bevy_ecs::prelude::*;
+
+macro_rules! create_entities {
+    ($world:ident; $( $variants:ident ),*) => {
+        $(
+            #[derive(Component)]
+            struct $variants(f32);
+            for _ in 0..5 {
+                $world.spawn().insert($variants(0.0));
+            }
+        )*
+    };
+}
+#[derive(Component)]
+struct Data(f32);
+
+pub struct Benchmark<'w>(World, QueryState<&'w mut Data>);
+
+impl<'w> Benchmark<'w> {
+    pub fn new() -> Self {
+        let mut world = World::new();
+
+        for _ in 0..5 {
+            world.spawn().insert(Data(1.0));
+        }
+
+        create_entities!(world; C00, C01, C02, C03, C04, C05, C06, C07, C08, C09);
+        create_entities!(world; C10, C11, C12, C13, C14, C15, C16, C17, C18, C19);
+        create_entities!(world; C20, C21, C22, C23, C24, C25, C26, C27, C28, C29);
+        create_entities!(world; C30, C31, C32, C33, C34, C35, C36, C37, C38, C39);
+        create_entities!(world; C40, C41, C42, C43, C44, C45, C46, C47, C48, C49);
+        create_entities!(world; C50, C51, C52, C53, C54, C55, C56, C57, C58, C59);
+        create_entities!(world; C60, C61, C62, C63, C64, C65, C66, C67, C68, C69);
+        create_entities!(world; C70, C71, C72, C73, C74, C75, C76, C77, C78, C79);
+        create_entities!(world; C80, C81, C82, C83, C84, C85, C86, C87, C88, C89);
+        create_entities!(world; C90, C91, C92, C93, C94, C95, C96, C97, C98, C99);
+        let query = world.query::<&mut Data>();
+        Self(world, query)
+    }
+
+    pub fn run(&mut self) {
+        for mut data in self.1.iter_mut(&mut self.0) {
+            data.0 *= 2.0;
+        }
+    }
+}

benches/benches/bevy_ecs/ecs_bench_suite/sparse_frag_iter_foreach.rs

@@ -0,0 +1,46 @@
+use bevy_ecs::prelude::*;
+
+macro_rules! create_entities {
+    ($world:ident; $( $variants:ident ),*) => {
+        $(
+            #[derive(Component)]
+            struct $variants(f32);
+            for _ in 0..5 {
+                $world.spawn().insert($variants(0.0));
+            }
+        )*
+    };
+}
+
+#[derive(Component)]
+struct Data(f32);
+
+pub struct Benchmark<'w>(World, QueryState<&'w mut Data>);
+
+impl<'w> Benchmark<'w> {
+    pub fn new() -> Self {
+        let mut world = World::new();
+        for _ in 0..5 {
+            world.spawn().insert(Data(1.0));
+        }
+
+        create_entities!(world; C00, C01, C02, C03, C04, C05, C06, C07, C08, C09);
+        create_entities!(world; C10, C11, C12, C13, C14, C15, C16, C17, C18, C19);
+        create_entities!(world; C20, C21, C22, C23, C24, C25, C26, C27, C28, C29);
+        create_entities!(world; C30, C31, C32, C33, C34, C35, C36, C37, C38, C39);
+        create_entities!(world; C40, C41, C42, C43, C44, C45, C46, C47, C48, C49);
+        create_entities!(world; C50, C51, C52, C53, C54, C55, C56, C57, C58, C59);
+        create_entities!(world; C60, C61, C62, C63, C64, C65, C66, C67, C68, C69);
+        create_entities!(world; C70, C71, C72, C73, C74, C75, C76, C77, C78, C79);
+        create_entities!(world; C80, C81, C82, C83, C84, C85, C86, C87, C88, C89);
+        create_entities!(world; C90, C91, C92, C93, C94, C95, C96, C97, C98, C99);
+        let query = world.query::<&mut Data>();
+        Self(world, query)
+    }
+
+    pub fn run(&mut self) {
+        self.1.for_each_mut(&mut self.0, |mut data| {
+            data.0 *= 2.0;
+        });
+    }
+}