Refactor profiler and add logger

src/configuration.h

@@ -31,6 +31,7 @@
 #include <cfloat>
 #include <utility>
 #include <cstdint>
+#include <string>
 #include "decimal.h"
 #include "containers/Pair.h"
 
@@ -110,6 +111,9 @@ constexpr decimal DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER = decimal(1.7);
  */
 struct WorldSettings {
 
+    /// Name of the world
+    std::string worldName = "";
+
     /// Distance threshold for two contact points for a valid persistent contact (in meters)
     decimal persistentContactDistanceThreshold = decimal(0.03);
 

src/engine/CollisionWorld.cpp

@@ -36,9 +36,11 @@ using namespace std;
 uint CollisionWorld::mNbWorlds = 0;
 
 // Constructor
-CollisionWorld::CollisionWorld(const string& name, const WorldSettings& worldSettings)
+CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logger, Profiler* profiler)
                : mConfig(worldSettings), mCollisionDetection(this, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mCurrentBodyId(0),
-                 mFreeBodiesIds(mMemoryManager.getPoolAllocator()), mEventListener(nullptr), mName(name) {
+                 mFreeBodiesIds(mMemoryManager.getPoolAllocator()), mEventListener(nullptr), mName(worldSettings.worldName),
+                 mProfiler(profiler), mLogger(logger), mIsProfilerCreatedByUser(profiler != nullptr),
+                 mIsLoggerCreatedByUser(logger != nullptr) {
 
     // Automatically generate a name for the world
     if (mName == "") {
@@ -55,20 +57,33 @@ CollisionWorld::CollisionWorld(const string& name, const WorldSettings& worldSet
 
 #ifdef IS_PROFILING_ACTIVE
 
-    // Add a destination file for the profiling data
+    // If the user has not provided its own profiler, we create one
-    mProfiler.addFileDestination("rp3d_profiling_" + mName + ".txt", Profiler::Format::Text);
+    if (mProfiler == nullptr) {
+
+       mProfiler = new Profiler();
+
+        // Add a destination file for the profiling data
+        mProfiler->addFileDestination("rp3d_profiling_" + mName + ".txt", Profiler::Format::Text);
+    }
+
 
     // Set the profiler
-    mCollisionDetection.setProfiler(&mProfiler);
+    mCollisionDetection.setProfiler(mProfiler);
 
 #endif
 
 #ifdef IS_LOGGING_ACTIVE
 
-    // Add a log destination file
+    // If the user has not provided its own logger, we create one
-    uint logLevel = static_cast<uint>(Logger::Level::Info) | static_cast<uint>(Logger::Level::Warning) |
+    if (mLogger == nullptr) {
-                    static_cast<uint>(Logger::Level::Error);
+
-    mLogger.addFileDestination("rp3d_log_" + mName + ".html", logLevel, Logger::Format::HTML);
+       mLogger = new Logger();
+
+        // Add a log destination file
+        uint logLevel = static_cast<uint>(Logger::Level::Info) | static_cast<uint>(Logger::Level::Warning) |
+                static_cast<uint>(Logger::Level::Error);
+        mLogger->addFileDestination("rp3d_log_" + mName + ".html", logLevel, Logger::Format::HTML);
+    }
 
 #endif
 
@@ -89,6 +104,24 @@ CollisionWorld::~CollisionWorld() {
         destroyCollisionBody(mBodies[i]);
     }
 
+#ifdef IS_PROFILING_ACTIVE
+
+    /// Delete the profiler
+    if (!mIsProfilerCreatedByUser) {
+        delete mProfiler;
+    }
+
+#endif
+
+#ifdef IS_LOGGING_ACTIVE
+
+    /// Delete the logger
+    if (!mIsLoggerCreatedByUser) {
+        delete mLogger;
+    }
+
+#endif
+
     assert(mBodies.size() == 0);
 }
 
@@ -117,7 +150,7 @@ CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform) {
 
 #ifdef IS_PROFILING_ACTIVE
 
-	collisionBody->setProfiler(&mProfiler);
+    collisionBody->setProfiler(mProfiler);
 
 #endif
 

src/engine/CollisionWorld.h

@@ -87,15 +87,21 @@ class CollisionWorld {
 #ifdef IS_PROFILING_ACTIVE
 
 		/// Real-time hierarchical profiler
-		Profiler mProfiler;
+        Profiler* mProfiler;
 #endif
 
 #ifdef IS_LOGGING_ACTIVE
 
         /// Logger
-        Logger mLogger;
+        Logger* mLogger;
 #endif
 
+        /// True if the profiler has been created by the user
+        bool mIsProfilerCreatedByUser;
+
+        /// True if the logger has been created by the user
+        bool mIsLoggerCreatedByUser;
+
         /// Total number of worlds
         static uint mNbWorlds;
 
@@ -112,7 +118,8 @@ class CollisionWorld {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        CollisionWorld(const std::string& name = "", const WorldSettings& worldSettings = WorldSettings());
+        CollisionWorld(const WorldSettings& worldSettings = WorldSettings(), Logger* logger = nullptr,
+                       Profiler* profiler = nullptr);
 
         /// Destructor
         virtual ~CollisionWorld();
@@ -161,14 +168,14 @@ class CollisionWorld {
 #ifdef IS_PROFILING_ACTIVE
 
         /// Return a reference to the profiler
-        Profiler& getProfiler();
+        Profiler* getProfiler();
 
 #endif
 
 #ifdef IS_LOGGING_ACTIVE
 
         /// Return a reference to the logger
-        Logger& getLogger();
+        Logger* getLogger();
 
 #endif
 
@@ -255,8 +262,8 @@ inline const std::string& CollisionWorld::getName() const {
 
 #ifdef IS_PROFILING_ACTIVE
 
-// Return a reference to the profiler
+// Return a pointer to the profiler
-inline Profiler& CollisionWorld::getProfiler() {
+inline Profiler* CollisionWorld::getProfiler() {
     return mProfiler;
 }
 
@@ -264,8 +271,8 @@ inline Profiler& CollisionWorld::getProfiler() {
 
 #ifdef IS_LOGGING_ACTIVE
 
-// Return a reference to the logger
+// Return a pointer to the logger
-inline Logger& CollisionWorld::getLogger() {
+inline Logger* CollisionWorld::getLogger() {
     return mLogger;
 }
 

src/engine/DynamicsWorld.cpp

@@ -39,8 +39,9 @@ using namespace std;
 /**
  * @param gravity Gravity vector in the world (in meters per second squared)
  */
-DynamicsWorld::DynamicsWorld(const Vector3& gravity, const string& name, const WorldSettings& worldSettings)
+DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldSettings,
-              : CollisionWorld(name, worldSettings),
+                             Logger* logger, Profiler* profiler)
+              : CollisionWorld(worldSettings, logger, profiler),
                 mContactSolver(mMemoryManager, mConfig),
                 mNbVelocitySolverIterations(mConfig.defaultVelocitySolverNbIterations),
                 mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations),
@@ -58,13 +59,13 @@ DynamicsWorld::DynamicsWorld(const Vector3& gravity, const string& name, const W
 #ifdef IS_PROFILING_ACTIVE
 
 	// Set the profiler
-	mConstraintSolver.setProfiler(&mProfiler);
+    mConstraintSolver.setProfiler(mProfiler);
-	mContactSolver.setProfiler(&mProfiler);
+    mContactSolver.setProfiler(mProfiler);
 
 #endif
 
     RP3D_LOG(mLogger, Logger::Level::Info, Logger::Category::World,
-             "Dynamics world " + mName + " has been created");
+             "Dynamics World: Dynamics world " + mName + " has been created");
 
 }
 
@@ -87,11 +88,11 @@ DynamicsWorld::~DynamicsWorld() {
 #ifdef IS_PROFILING_ACTIVE
 
     // Print the profiling report into the destinations
-    mProfiler.printReport();
+    mProfiler->printReport();
 #endif
 
     RP3D_LOG(mLogger, Logger::Level::Info, Logger::Category::World,
-             "Dynamics world " + mName + " has been destroyed");
+             "Dynamics World: Dynamics world " + mName + " has been destroyed");
 }
 
 // Update the physics simulation
@@ -102,10 +103,10 @@ void DynamicsWorld::update(decimal timeStep) {
 
 #ifdef IS_PROFILING_ACTIVE
     // Increment the frame counter of the profiler
-    mProfiler.incrementFrameCounter();
+    mProfiler->incrementFrameCounter();
 #endif
 
-    RP3D_PROFILE("DynamicsWorld::update()", &mProfiler);
+    RP3D_PROFILE("DynamicsWorld::update()", mProfiler);
 
     mTimeStep = timeStep;
 
@@ -153,7 +154,7 @@ void DynamicsWorld::update(decimal timeStep) {
 /// the sympletic Euler time stepping scheme.
 void DynamicsWorld::integrateRigidBodiesPositions() {
 
-    RP3D_PROFILE("DynamicsWorld::integrateRigidBodiesPositions()", &mProfiler);
+    RP3D_PROFILE("DynamicsWorld::integrateRigidBodiesPositions()", mProfiler);
     
     // For each island of the world
     for (uint i=0; i < mNbIslands; i++) {
@@ -192,7 +193,7 @@ void DynamicsWorld::integrateRigidBodiesPositions() {
 // Update the postion/orientation of the bodies
 void DynamicsWorld::updateBodiesState() {
 
-    RP3D_PROFILE("DynamicsWorld::updateBodiesState()", &mProfiler);
+    RP3D_PROFILE("DynamicsWorld::updateBodiesState()", mProfiler);
 
     // For each island of the world
     for (uint islandIndex = 0; islandIndex < mNbIslands; islandIndex++) {
@@ -229,7 +230,7 @@ void DynamicsWorld::updateBodiesState() {
 // Initialize the bodies velocities arrays for the next simulation step.
 void DynamicsWorld::initVelocityArrays() {
 
-    RP3D_PROFILE("DynamicsWorld::initVelocityArrays()", &mProfiler);
+    RP3D_PROFILE("DynamicsWorld::initVelocityArrays()", mProfiler);
 
     // Allocate memory for the bodies velocity arrays
     uint nbBodies = mRigidBodies.size();
@@ -271,7 +272,7 @@ void DynamicsWorld::initVelocityArrays() {
 /// contact solver.
 void DynamicsWorld::integrateRigidBodiesVelocities() {
 
-    RP3D_PROFILE("DynamicsWorld::integrateRigidBodiesVelocities()", &mProfiler);
+    RP3D_PROFILE("DynamicsWorld::integrateRigidBodiesVelocities()", mProfiler);
 
     // Initialize the bodies velocity arrays
     initVelocityArrays();
@@ -333,7 +334,7 @@ void DynamicsWorld::integrateRigidBodiesVelocities() {
 // Solve the contacts and constraints
 void DynamicsWorld::solveContactsAndConstraints() {
 
-    RP3D_PROFILE("DynamicsWorld::solveContactsAndConstraints()", &mProfiler);
+    RP3D_PROFILE("DynamicsWorld::solveContactsAndConstraints()", mProfiler);
 
     // Set the velocities arrays
     mContactSolver.setSplitVelocitiesArrays(mSplitLinearVelocities, mSplitAngularVelocities);
@@ -383,7 +384,7 @@ void DynamicsWorld::solveContactsAndConstraints() {
 // Solve the position error correction of the constraints
 void DynamicsWorld::solvePositionCorrection() {
 
-    RP3D_PROFILE("DynamicsWorld::solvePositionCorrection()", &mProfiler);
+    RP3D_PROFILE("DynamicsWorld::solvePositionCorrection()", mProfiler);
 
     // Do not continue if there is no constraints
     if (mJoints.size() == 0) return;
@@ -426,7 +427,7 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) {
 
 #ifdef IS_PROFILING_ACTIVE
 
-	rigidBody->setProfiler(&mProfiler);
+    rigidBody->setProfiler(mProfiler);
 
 #endif
 
@@ -645,7 +646,7 @@ uint DynamicsWorld::computeNextAvailableJointId() {
 /// it). Then, we create an island with this group of connected bodies.
 void DynamicsWorld::computeIslands() {
 
-    RP3D_PROFILE("DynamicsWorld::computeIslands()", &mProfiler);
+    RP3D_PROFILE("DynamicsWorld::computeIslands()", mProfiler);
 
     uint nbBodies = mRigidBodies.size();
 
@@ -792,7 +793,7 @@ void DynamicsWorld::computeIslands() {
 /// time, we put all the bodies of the island to sleep.
 void DynamicsWorld::updateSleepingBodies() {
 
-    RP3D_PROFILE("DynamicsWorld::updateSleepingBodies()", &mProfiler);
+    RP3D_PROFILE("DynamicsWorld::updateSleepingBodies()", mProfiler);
 
     const decimal sleepLinearVelocitySquare = mSleepLinearVelocity * mSleepLinearVelocity;
     const decimal sleepAngularVelocitySquare = mSleepAngularVelocity * mSleepAngularVelocity;

src/engine/DynamicsWorld.h

@@ -162,8 +162,8 @@ class DynamicsWorld : public CollisionWorld {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        DynamicsWorld(const Vector3& mGravity, const std::string& name = "",
+        DynamicsWorld(const Vector3& mGravity, const WorldSettings& worldSettings = WorldSettings(),
-                      const WorldSettings& worldSettings = WorldSettings());
+                      Logger* logger = nullptr, Profiler* profiler = nullptr);
 
         /// Destructor
         virtual ~DynamicsWorld() override;

src/utils/Logger.cpp

@@ -92,10 +92,14 @@ void Logger::removeAllDestinations() {
 // Log something
 void Logger::log(Level level, Category category, const std::string& message) {
 
+    // Get current time
+    auto now = std::chrono::system_clock::now();
+    auto time = std::chrono::system_clock::to_time_t(now);
+
     // For each destination
     for (auto it = mDestinations.begin(); it != mDestinations.end(); ++it) {
 
-        (*it)->write(message, level, category);
+        (*it)->write(time, message, level, category);
     }
 }
 

src/utils/Logger.h

@@ -26,7 +26,6 @@
 #ifndef REACTPHYSICS3D_LOGGER_H
 #define REACTPHYSICS3D_LOGGER_H
 
-#ifdef IS_LOGGING_ACTIVE
 
 // Libraries
 #include "containers/List.h"
@@ -35,6 +34,7 @@
 #include <iostream>
 #include <fstream>
 #include <sstream>
+#include <iomanip>
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
@@ -57,6 +57,26 @@ class Logger {
         /// Log verbosity level
         enum class Format {Text, HTML};
 
+        /// Return the name of a category
+        static std::string getCategoryName(Category category) {
+
+            switch(category) {
+                case Category::World: return "World";
+                case Category::Body: return "Body";
+                case Category::Joint: return "Joint";
+            }
+        }
+
+        /// Return the name of a level
+        static std::string getLevelName(Level level) {
+
+            switch(level) {
+                case Level::Info: return "Information";
+                case Level::Warning: return "Warning";
+                case Level::Error: return "Error";
+            }
+        }
+
         /// Log formatter
         class Formatter {
 
@@ -83,7 +103,7 @@ class Logger {
                 }
 
                 /// Format a log message
-                virtual std::string format(const std::string& message, Level level, Category category) = 0;
+                virtual std::string format(const time_t& time, const std::string& message, Level level, Category category) = 0;
         };
 
         class TextFormatter : public Formatter {
@@ -101,8 +121,8 @@ class Logger {
                 }
 
                 /// Format a log message
-                virtual std::string format(const std::string& message, Level level,
+                virtual std::string format(const time_t& time, const std::string& message,
-                                           Category category) override {
+                                           Level level, Category category) override {
                     return message;
                 }
         };
@@ -120,6 +140,7 @@ class Logger {
                     ss << "<html>" << std::endl;
                     ss << "<head>" << std::endl;
                     ss << "<title>ReactPhysics3D Logs</title>" << std::endl;
+                    ss << "<style>" << generateCSS() << "</style>" << std::endl;
                     ss << "</head>" << std::endl;
                     ss << "<body>" << std::endl;
 
@@ -137,6 +158,60 @@ class Logger {
                     return ss.str();
                 }
 
+            std::string generateCSS() const {
+                return "body {"
+                       "  background-color: #f7f7f9;"
+                       "} "
+                      "body > div { clear:both; } "
+                      "body > div > div { float: left; } "
+                      ".line { "
+                        "font-family: SFMono-Regular,Menlo,Monaco,Consolas,'Liberation Mono','Courier New',monospace; "
+                        "font-size: 13px; "
+                        "color: #212529; "
+                        "margin: 0px 5px 2px 5px; "
+                      "} "
+                      ".time { "
+                         "margin-right: 10px; "
+                         "width:100px; "
+                      "} "
+                      ".level { "
+                         "margin-right: 10px; "
+                         "width: 110px; "
+                      "}"
+                      ".category { "
+                         "margin-right: 10px; "
+                         "width: 120px; "
+                         "font-weight: bold; "
+                      "}"
+                      ".message { "
+                        "color: #2e2e2e; "
+                        "word-wrap: break-word; "
+                        "max-width: 800px; "
+                      "} "
+                      ".body > .category { "
+                        "color: #007bff; "
+                      "} "
+                      ".world > .category { "
+                        "color: #4f9fcf; "
+                      "} "
+                      ".joint > .category { "
+                        "color: #6c757d; "
+                      "} "
+                      ".warning { "
+                        "color: #f0ad4e; "
+                      "} "
+                      ".error { "
+                        "color: #d44950; "
+                      "} ";
+            }
+
+            /// Convert a string to lower case
+            std::string toLowerCase(const std::string& text) {
+                std::string textLower = text;
+                std::transform(textLower.begin(), textLower.end(), textLower.begin(), ::tolower);
+                return textLower;
+            }
+
             public:
 
                 /// Constructor
@@ -150,14 +225,34 @@ class Logger {
                 }
 
                 /// Format a log message
-                virtual std::string format(const std::string& message, Level level,
+                virtual std::string format(const time_t& time, const std::string& message,
-                                           Category category) override {
+                                           Level level, Category category) override {
 
                     std::stringstream ss;
 
-                    ss << "<p>";
+                    ss << "<div class='line " + toLowerCase(getCategoryName(category)) + " " + toLowerCase(getLevelName(level)) + "'>";
+
+                    // Time
+                    ss << "<div class='time'>";
+                    ss << std::put_time(std::localtime(&time), "%X");
+                    ss << "</div>";
+
+                    // Level
+                    ss << "<div class='level'>";
+                    ss << getLevelName(level);
+                    ss << "</div>";
+
+                    // Category
+                    ss << "<div class='category'>";
+                    ss << getCategoryName(category);
+                    ss << "</div>";
+
+                    // Message
+                    ss << "<div class='message'>";
                     ss << message;
-                    ss << "</p>";
+                    ss << "</div>";
+
+                    ss << "</div>";
 
                     return ss.str();
                 }
@@ -187,7 +282,7 @@ class Logger {
                 }
 
                 /// Write a message into the output stream
-                virtual void write(const std::string& message, Level level, Category category) = 0;
+                virtual void write(const time_t& time, const std::string& message, Level level, Category category) = 0;
         };
 
         class FileDestination : public Destination {
@@ -228,8 +323,8 @@ class Logger {
                 }
 
                 /// Write a message into the output stream
-                virtual void write(const std::string& message, Level level, Category category) override {
+                virtual void write(const time_t& time, const std::string& message, Level level, Category category) override {
-                    mFileStream << formatter->format(message, level, category) << std::endl;
+                    mFileStream << formatter->format(time, message, level, category) << std::endl << std::flush;
                 }
         };
 
@@ -259,8 +354,9 @@ class Logger {
                 }
 
                 /// Write a message into the output stream
-                virtual void write(const std::string& message, Level level, Category category) override {
+                virtual void write(const time_t& time, const std::string& message, Level level, Category category) override {
-                    mOutputStream << message << std::endl;
+                    mOutputStream << std::put_time(std::localtime(&time), "%Y-%m-%d %X") << ": ";
+                    mOutputStream << message << std::endl << std::flush;
                 }
         };
 
@@ -303,12 +399,12 @@ class Logger {
         void log(Level level, Category category, const std::string& message);
 };
 
+}
+
+#ifdef IS_LOGGING_ACTIVE
 
 // Use this macro to log something
-#define RP3D_LOG(logger, level, category, message) logger.log(level, category, message)
+#define RP3D_LOG(logger, level, category, message) logger->log(level, category, message)
-
-
-}
 
 #else   // If logger is not active
 

testbed/scenes/collisiondetection/CollisionDetectionScene.cpp

@@ -46,8 +46,11 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
     // Set the center of the scene
     setScenePosition(center, SCENE_RADIUS);
 
+    rp3d::WorldSettings worldSettings;
+    worldSettings.worldName = name;
+
     // Create the dynamics world for the physics simulation
-    mPhysicsWorld = new rp3d::CollisionWorld(name);
+    mPhysicsWorld = new rp3d::CollisionWorld(worldSettings);
 
     // ---------- Sphere 1 ---------- //
 

testbed/scenes/collisionshapes/CollisionShapesScene.cpp

@@ -45,8 +45,11 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
     // Gravity vector in the dynamics world
     rp3d::Vector3 gravity(0, -9.81f, 0);
 
+    rp3d::WorldSettings worldSettings;
+    worldSettings.worldName = name;
+
     // Create the dynamics world for the physics simulation
-    mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name);
+    mPhysicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings);
 
     for (int i=0; i<NB_COMPOUND_SHAPES; i++) {
 

testbed/scenes/concavemesh/ConcaveMeshScene.cpp

@@ -45,8 +45,11 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
     // Gravity vector in the dynamics world
     rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
 
+    rp3d::WorldSettings worldSettings;
+    worldSettings.worldName = name;
+
     // Create the dynamics world for the physics simulation
-    mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name);
+    mPhysicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings);
 
     // ---------- Create the boxes ----------- //
     for (int i = 0; i<NB_COMPOUND_SHAPES; i++) {

testbed/scenes/cubes/CubesScene.cpp

@@ -43,8 +43,11 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings)
     // Gravity vector in the dynamics world
     rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
 
+    rp3d::WorldSettings worldSettings;
+    worldSettings.worldName = name;
+
     // Create the dynamics world for the physics simulation
-    mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name);
+    mPhysicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings);
 
     // Create all the cubes of the scene
     for (int i=0; i<NB_CUBES; i++) {

testbed/scenes/cubestack/CubeStackScene.cpp

@@ -43,8 +43,11 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings
     // Gravity vector in the dynamics world
     rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
 
+    rp3d::WorldSettings worldSettings;
+    worldSettings.worldName = name;
+
     // Create the dynamics world for the physics simulation
-    mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name);
+    mPhysicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings);
 
     // Create all the cubes of the scene
     for (int i=1; i<=NB_FLOORS; i++) {

testbed/scenes/heightfield/HeightFieldScene.cpp

@@ -45,8 +45,11 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
     // Gravity vector in the dynamics world
     rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
 
+    rp3d::WorldSettings worldSettings;
+    worldSettings.worldName = name;
+
     // Create the dynamics world for the physics simulation
-    mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name);
+    mPhysicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings);
 
 	for (int i = 0; i<NB_COMPOUND_SHAPES; i++) {
 

testbed/scenes/joints/JointsScene.cpp

@@ -44,8 +44,11 @@ JointsScene::JointsScene(const std::string& name, EngineSettings& settings)
     // Gravity vector in the dynamics world
     rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
 
+    rp3d::WorldSettings worldSettings;
+    worldSettings.worldName = name;
+
     // Create the dynamics world for the physics simulation
-    mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name);
+    mPhysicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings);
 
     // Create the Ball-and-Socket joint
     createBallAndSocketJoints();

testbed/scenes/raycast/RaycastScene.cpp

@@ -44,8 +44,11 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
     // Set the center of the scene
     setScenePosition(center, SCENE_RADIUS);
 
+    rp3d::WorldSettings worldSettings;
+    worldSettings.worldName = name;
+
     // Create the dynamics world for the physics simulation
-    mPhysicsWorld = new rp3d::CollisionWorld(name);
+    mPhysicsWorld = new rp3d::CollisionWorld(worldSettings);
 
     // ---------- Dumbbell ---------- //
 

testbed/src/Gui.cpp

@@ -170,6 +170,7 @@ void Gui::createSettingsPanel() {
     checkboxSleeping->setChecked(mApp->mEngineSettings.isSleepingEnabled);
     checkboxSleeping->setCallback([&](bool value) {
         mApp->mEngineSettings.isSleepingEnabled = value;
+        mApp->notifyEngineSetttingsChanged();
     });
 
     // Enabled/Disable Gravity
@@ -177,6 +178,7 @@ void Gui::createSettingsPanel() {
     checkboxGravity->setChecked(mApp->mEngineSettings.isGravityEnabled);
     checkboxGravity->setCallback([&](bool value) {
         mApp->mEngineSettings.isGravityEnabled = value;
+        mApp->notifyEngineSetttingsChanged();
     });
 
     // Timestep
@@ -202,6 +204,7 @@ void Gui::createSettingsPanel() {
             if (finalValue < 1 || finalValue > 1000) return false;
 
             mApp->mEngineSettings.timeStep = finalValue / 1000.0f;
+            mApp->notifyEngineSetttingsChanged();
             textboxTimeStep->setValue(out.str());
         }
         catch (...) {
@@ -233,6 +236,7 @@ void Gui::createSettingsPanel() {
             if (value < 1 || value > 1000) return false;
 
             mApp->mEngineSettings.nbVelocitySolverIterations = value;
+            mApp->notifyEngineSetttingsChanged();
             textboxVelocityIterations->setValue(out.str());
         }
         catch (...) {
@@ -264,6 +268,7 @@ void Gui::createSettingsPanel() {
             if (value < 1 || value > 1000) return false;
 
             mApp->mEngineSettings.nbPositionSolverIterations = value;
+            mApp->notifyEngineSetttingsChanged();
             textboxPositionIterations->setValue(out.str());
         }
         catch (...) {
@@ -298,6 +303,7 @@ void Gui::createSettingsPanel() {
             if (finalValue < 1 || finalValue > 100000) return false;
 
             mApp->mEngineSettings.timeBeforeSleep = finalValue / 1000.0f;
+            mApp->notifyEngineSetttingsChanged();
             textboxTimeSleep->setValue(out.str());
         }
         catch (...) {
@@ -332,6 +338,7 @@ void Gui::createSettingsPanel() {
             if (finalValue < 0 || finalValue > 10000) return false;
 
             mApp->mEngineSettings.sleepLinearVelocity = finalValue;
+            mApp->notifyEngineSetttingsChanged();
             textboxSleepLinearVel->setValue(out.str());
         }
         catch (...) {
@@ -366,6 +373,7 @@ void Gui::createSettingsPanel() {
             if (finalValue < 0 || finalValue > 10000) return false;
 
             mApp->mEngineSettings.sleepAngularVelocity = finalValue;
+            mApp->notifyEngineSetttingsChanged();
             textboxSleepAngularVel->setValue(out.str());
         }
         catch (...) {

testbed/src/Scene.h

@@ -232,6 +232,9 @@ class Scene {
 
         /// Return all the contact points of the scene
         std::vector<ContactPoint> virtual getContactPoints();
+
+        /// Update the engine settings
+        virtual void updateEngineSettings() = 0;
 };
 
 // Called when a keyboard event occurs

testbed/src/SceneDemo.cpp

@@ -123,18 +123,6 @@ void SceneDemo::updatePhysics() {
 
     if (getDynamicsWorld() != nullptr) {
 
-        // Update the physics engine parameters
-        getDynamicsWorld()->setIsGratityEnabled(mEngineSettings.isGravityEnabled);
-        rp3d::Vector3 gravity(mEngineSettings.gravity.x, mEngineSettings.gravity.y,
-                         mEngineSettings.gravity.z);
-        getDynamicsWorld()->setGravity(gravity);
-        getDynamicsWorld()->enableSleeping(mEngineSettings.isSleepingEnabled);
-        getDynamicsWorld()->setSleepLinearVelocity(mEngineSettings.sleepLinearVelocity);
-        getDynamicsWorld()->setSleepAngularVelocity(mEngineSettings.sleepAngularVelocity);
-        getDynamicsWorld()->setNbIterationsPositionSolver(mEngineSettings.nbPositionSolverIterations);
-        getDynamicsWorld()->setNbIterationsVelocitySolver(mEngineSettings.nbVelocitySolverIterations);
-        getDynamicsWorld()->setTimeBeforeSleep(mEngineSettings.timeBeforeSleep);
-
         // Take a simulation step
         getDynamicsWorld()->update(mEngineSettings.timeStep);
     }
@@ -448,3 +436,22 @@ std::vector<ContactPoint> SceneDemo::computeContactPointsOfWorld(rp3d::DynamicsW
 
     return contactPoints;
 }
+
+// Update the engine settings
+void SceneDemo::updateEngineSettings() {
+
+    if (getDynamicsWorld() != nullptr) {
+
+        // Update the physics engine parameters
+        getDynamicsWorld()->setIsGratityEnabled(mEngineSettings.isGravityEnabled);
+        rp3d::Vector3 gravity(mEngineSettings.gravity.x, mEngineSettings.gravity.y,
+                         mEngineSettings.gravity.z);
+        getDynamicsWorld()->setGravity(gravity);
+        getDynamicsWorld()->enableSleeping(mEngineSettings.isSleepingEnabled);
+        getDynamicsWorld()->setSleepLinearVelocity(mEngineSettings.sleepLinearVelocity);
+        getDynamicsWorld()->setSleepAngularVelocity(mEngineSettings.sleepAngularVelocity);
+        getDynamicsWorld()->setNbIterationsPositionSolver(mEngineSettings.nbPositionSolverIterations);
+        getDynamicsWorld()->setNbIterationsVelocitySolver(mEngineSettings.nbVelocitySolverIterations);
+        getDynamicsWorld()->setTimeBeforeSleep(mEngineSettings.timeBeforeSleep);
+    }
+}

testbed/src/SceneDemo.h

@@ -151,6 +151,9 @@ class SceneDemo : public Scene {
         /// Render the scene (possibly in multiple passes for shadow mapping)
         virtual void render() override;
 
+        /// Update the engine settings
+        virtual void updateEngineSettings() override;
+
         /// Render the scene in a single pass
         virtual void renderSinglePass(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix);
 

testbed/src/TestbedApplication.cpp

@@ -271,9 +271,16 @@ void TestbedApplication::switchScene(Scene* newScene) {
     // Reset the scene
     mCurrentScene->reset();
 
+    mCurrentScene->updateEngineSettings();
+
     resizeEvent(Vector2i(0, 0));
 }
 
+// Notify that the engine settings have changed
+void TestbedApplication::notifyEngineSetttingsChanged() {
+   mCurrentScene->updateEngineSettings();
+}
+
 // Check the OpenGL errors
 void TestbedApplication::checkOpenGLErrorsInternal(const char* file, int line) {
     GLenum glError;

testbed/src/TestbedApplication.h

@@ -199,6 +199,9 @@ class TestbedApplication : public Screen {
         /// Enable/Disable Vertical synchronization
         void enableVSync(bool enable);
 
+        /// Notify that the engine settings have changed
+        void notifyEngineSetttingsChanged();
+
         // -------------------- Friendship -------------------- //
 
         friend class Gui;