Create a custom logger for the testbed application and edit demo scenes for this

testbed/CMakeLists.txt

@@ -91,6 +91,8 @@ set(TESTBED_SOURCES
     src/SceneDemo.h
     src/SceneDemo.cpp
     src/Timer.h
+    src/TestbedLogger.h
+    src/TestbedLogger.cpp
 )
 
 # Common source files

testbed/scenes/ballandsocketjoint/BallAndSocketJointScene.cpp

@@ -32,8 +32,8 @@ using namespace openglframework;
 using namespace ballandsocketjointscene;
 
 // Constructor
-BallAndSocketJointScene::BallAndSocketJointScene(const std::string& name, EngineSettings& settings)
+BallAndSocketJointScene::BallAndSocketJointScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
-      : SceneDemo(name, settings, true, SCENE_RADIUS) {
+      : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) {
 
     // Compute the radius and the center of the scene
     openglframework::Vector3 center(0, 5, 0);
@@ -42,13 +42,6 @@ BallAndSocketJointScene::BallAndSocketJointScene(const std::string& name, Engine
     setScenePosition(center, SCENE_RADIUS);
 
     mWorldSettings.worldName = name;
-
-    // Logger
-    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
-    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
-            static_cast<uint>(rp3d::Logger::Level::Error);
-    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
-    mPhysicsCommon.setLogger(defaultLogger);
 }
 
 // Destructor

testbed/scenes/ballandsocketjoint/BallAndSocketJointScene.h

@@ -70,7 +70,7 @@ class BallAndSocketJointScene : public SceneDemo {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        BallAndSocketJointScene(const std::string& name, EngineSettings& settings);
+        BallAndSocketJointScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon);
 
         /// Destructor
         virtual ~BallAndSocketJointScene() override ;

testbed/scenes/ballandsocketjointschain/BallAndSocketJointsChainScene.cpp

@@ -32,8 +32,8 @@ using namespace openglframework;
 using namespace ballandsocketjointschainscene;
 
 // Constructor
-BallAndSocketJointsChainScene::BallAndSocketJointsChainScene(const std::string& name, EngineSettings& settings)
+BallAndSocketJointsChainScene::BallAndSocketJointsChainScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
-      : SceneDemo(name, settings, true, SCENE_RADIUS) {
+      : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) {
 
     std::string meshFolderPath("meshes/");
 
@@ -44,13 +44,6 @@ BallAndSocketJointsChainScene::BallAndSocketJointsChainScene(const std::string&
     setScenePosition(center, SCENE_RADIUS);
 
     mWorldSettings.worldName = name;
-
-    // Logger
-    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
-    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
-            static_cast<uint>(rp3d::Logger::Level::Error);
-    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
-    mPhysicsCommon.setLogger(defaultLogger);
 }
 
 // Destructor

testbed/scenes/ballandsocketjointschain/BallAndSocketJointsChainScene.h

@@ -65,7 +65,7 @@ class BallAndSocketJointsChainScene : public SceneDemo {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        BallAndSocketJointsChainScene(const std::string& name, EngineSettings& settings);
+        BallAndSocketJointsChainScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon);
 
         /// Destructor
         virtual ~BallAndSocketJointsChainScene() override ;

testbed/scenes/ballandsocketjointsnet/BallAndSocketJointsNetScene.cpp

@@ -32,8 +32,8 @@ using namespace openglframework;
 using namespace ballandsocketjointsnetscene;
 
 // Constructor
-BallAndSocketJointsNetScene::BallAndSocketJointsNetScene(const std::string& name, EngineSettings& settings)
+BallAndSocketJointsNetScene::BallAndSocketJointsNetScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
-      : SceneDemo(name, settings, true, SCENE_RADIUS) {
+      : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) {
 
     std::string meshFolderPath("meshes/");
 
@@ -49,13 +49,6 @@ BallAndSocketJointsNetScene::BallAndSocketJointsNetScene(const std::string& name
     rp3d::PhysicsWorld::WorldSettings worldSettings;
     worldSettings.worldName = name;
 
-    // Logger
-    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
-    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
-            static_cast<uint>(rp3d::Logger::Level::Error);
-    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
-    mPhysicsCommon.setLogger(defaultLogger);
-
     // Create the physics world for the physics simulation
     rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
     physicsWorld->setEventListener(this);

testbed/scenes/ballandsocketjointsnet/BallAndSocketJointsNetScene.h

@@ -65,7 +65,7 @@ class BallAndSocketJointsNetScene : public SceneDemo {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        BallAndSocketJointsNetScene(const std::string& name, EngineSettings& settings);
+        BallAndSocketJointsNetScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon);
 
         /// Destructor
         virtual ~BallAndSocketJointsNetScene() override ;

testbed/scenes/boxtower/BoxTowerScene.cpp

@@ -31,8 +31,8 @@ using namespace openglframework;
 using namespace boxtowerscene;
 
 // Constructor
-BoxTowerScene::BoxTowerScene(const std::string& name, EngineSettings& settings)
+BoxTowerScene::BoxTowerScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
-       : SceneDemo(name, settings, true, SCENE_RADIUS) {
+       : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) {
 
     std::string meshFolderPath("meshes/");
 
@@ -46,13 +46,6 @@ BoxTowerScene::BoxTowerScene(const std::string& name, EngineSettings& settings)
     rp3d::Vector3 gravity(0, -9.81f, 0);
 
     mWorldSettings.worldName = name;
-
-    // Logger
-    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
-    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
-            static_cast<uint>(rp3d::Logger::Level::Error);
-    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
-    mPhysicsCommon.setLogger(defaultLogger);
 }
 
 // Destructor

testbed/scenes/boxtower/BoxTowerScene.h

@@ -77,7 +77,7 @@ class BoxTowerScene : public SceneDemo {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        BoxTowerScene(const std::string& name, EngineSettings& settings);
+        BoxTowerScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon &physicsCommon);
 
         /// Destructor
         virtual ~BoxTowerScene() override;

testbed/scenes/bridge/BridgeScene.cpp

@@ -32,8 +32,8 @@ using namespace openglframework;
 using namespace bridgescene;
 
 // Constructor
-BridgeScene::BridgeScene(const std::string& name, EngineSettings& settings)
+BridgeScene::BridgeScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
-      : SceneDemo(name, settings, true, SCENE_RADIUS) {
+      : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) {
 
     std::string meshFolderPath("meshes/");
 
@@ -44,13 +44,6 @@ BridgeScene::BridgeScene(const std::string& name, EngineSettings& settings)
     setScenePosition(center, SCENE_RADIUS);
 
     mWorldSettings.worldName = name;
-
-    // Logger
-    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
-    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
-            static_cast<uint>(rp3d::Logger::Level::Error);
-    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
-    mPhysicsCommon.setLogger(defaultLogger);
 }
 
 // Destructor

testbed/scenes/bridge/BridgeScene.h

@@ -72,7 +72,7 @@ class BridgeScene : public SceneDemo {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        BridgeScene(const std::string& name, EngineSettings& settings);
+        BridgeScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon);
 
         /// Destructor
         virtual ~BridgeScene() override ;

testbed/scenes/collisiondetection/CollisionDetectionScene.cpp

@@ -33,8 +33,8 @@ using namespace openglframework;
 using namespace collisiondetectionscene;
 
 // Constructor
-CollisionDetectionScene::CollisionDetectionScene(const std::string& name, EngineSettings& settings)
+CollisionDetectionScene::CollisionDetectionScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
-       : SceneDemo(name, settings, SCENE_RADIUS, false), mMeshFolderPath("meshes/"),
+       : SceneDemo(name, settings, physicsCommon, SCENE_RADIUS, false), mMeshFolderPath("meshes/"),
          mContactManager(mPhongShader, mMeshFolderPath, mSnapshotsContactPoints),
          mAreNormalsDisplayed(false) {
 
@@ -52,13 +52,6 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
     rp3d::PhysicsWorld::WorldSettings worldSettings;
     worldSettings.worldName = name;
 
-    // Logger
-    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
-    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
-            static_cast<uint>(rp3d::Logger::Level::Error);
-    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
-    mPhysicsCommon.setLogger(defaultLogger);
-
     // Create the physics world for the physics simulation
     mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
 

testbed/scenes/collisiondetection/CollisionDetectionScene.h

@@ -121,7 +121,7 @@ class CollisionDetectionScene : public SceneDemo {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        CollisionDetectionScene(const std::string& name, EngineSettings& settings);
+        CollisionDetectionScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon);
 
         /// Destructor
         virtual ~CollisionDetectionScene() override;

testbed/scenes/collisionshapes/CollisionShapesScene.cpp

@@ -31,8 +31,8 @@ using namespace openglframework;
 using namespace collisionshapesscene;
 
 // Constructor
-CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettings& settings)
+CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
-       : SceneDemo(name, settings, true, SCENE_RADIUS) {
+       : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) {
 
     std::string meshFolderPath("meshes/");
 
@@ -43,13 +43,6 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
     setScenePosition(center, SCENE_RADIUS);
 
     mWorldSettings.worldName = name;
-
-    // Logger
-    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
-    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
-            static_cast<uint>(rp3d::Logger::Level::Error);
-    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
-    mPhysicsCommon.setLogger(defaultLogger);
 }
 
 // Destructor

testbed/scenes/collisionshapes/CollisionShapesScene.h

@@ -89,7 +89,7 @@ class CollisionShapesScene : public SceneDemo {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        CollisionShapesScene(const std::string& name, EngineSettings& settings);
+        CollisionShapesScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon);
 
         /// Destructor
         virtual ~CollisionShapesScene() override;

testbed/scenes/concavemesh/ConcaveMeshScene.cpp

@@ -31,8 +31,8 @@ using namespace openglframework;
 using namespace trianglemeshscene;
 
 // Constructor
-ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& settings)
+ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
-      : SceneDemo(name, settings, true, SCENE_RADIUS) {
+      : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) {
 
     std::string meshFolderPath("meshes/");
 
@@ -43,13 +43,6 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
     setScenePosition(center, SCENE_RADIUS);
 
     mWorldSettings.worldName = name;
-
-    // Logger
-    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
-    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
-            static_cast<uint>(rp3d::Logger::Level::Error);
-    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
-    mPhysicsCommon.setLogger(defaultLogger);
 }
 
 // Destructor

testbed/scenes/concavemesh/ConcaveMeshScene.h

@@ -87,7 +87,7 @@ class ConcaveMeshScene : public SceneDemo {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        ConcaveMeshScene(const std::string& name, EngineSettings& settings);
+        ConcaveMeshScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon);
 
         /// Destructor
         virtual ~ConcaveMeshScene() override;

testbed/scenes/cubes/CubesScene.cpp

@@ -31,8 +31,8 @@ using namespace openglframework;
 using namespace cubesscene;
 
 // Constructor
-CubesScene::CubesScene(const std::string& name, EngineSettings& settings)
+CubesScene::CubesScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
-      : SceneDemo(name, settings, true, SCENE_RADIUS) {
+      : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) {
 
     iter = 0;
 
@@ -43,13 +43,6 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings)
     setScenePosition(center, SCENE_RADIUS);
 
     mWorldSettings.worldName = name;
-
-    // Logger
-    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
-    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
-            static_cast<uint>(rp3d::Logger::Level::Error);
-    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
-    mPhysicsCommon.setLogger(defaultLogger);
 }
 
 // Destructor

testbed/scenes/cubes/CubesScene.h

@@ -63,7 +63,7 @@ class CubesScene : public SceneDemo {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        CubesScene(const std::string& name, EngineSettings& settings);
+        CubesScene(const std::string& name, EngineSettings& settings, rp3d::PhysicsCommon& physicsCommon);
 
         /// Destructor
         virtual ~CubesScene() override;

testbed/scenes/cubestack/CubeStackScene.cpp

@@ -31,8 +31,8 @@ using namespace openglframework;
 using namespace cubestackscene;
 
 // Constructor
-CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings)
+CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
-      : SceneDemo(name, settings, true, SCENE_RADIUS) {
+      : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) {
 
     // Compute the radius and the center of the scene
     openglframework::Vector3 center(0, 5, 0);
@@ -41,13 +41,6 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings
     setScenePosition(center, SCENE_RADIUS);
 
     mWorldSettings.worldName = name;
-
-    // Logger
-    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
-    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
-            static_cast<uint>(rp3d::Logger::Level::Error);
-    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
-    mPhysicsCommon.setLogger(defaultLogger);
 }
 
 // Create the physics world

testbed/scenes/cubestack/CubeStackScene.h

@@ -61,7 +61,7 @@ class CubeStackScene : public SceneDemo {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        CubeStackScene(const std::string& name, EngineSettings& settings);
+        CubeStackScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon);
 
         /// Destructor
         virtual ~CubeStackScene() override;

testbed/scenes/fixedjoint/FixedJointScene.cpp

@@ -32,8 +32,8 @@ using namespace openglframework;
 using namespace fixedjointscene;
 
 // Constructor
-FixedJointScene::FixedJointScene(const std::string& name, EngineSettings& settings)
+FixedJointScene::FixedJointScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
-      : SceneDemo(name, settings, true, SCENE_RADIUS) {
+      : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) {
 
     // Compute the radius and the center of the scene
     openglframework::Vector3 center(0, 5, 0);
@@ -42,13 +42,6 @@ FixedJointScene::FixedJointScene(const std::string& name, EngineSettings& settin
     setScenePosition(center, SCENE_RADIUS);
 
     mWorldSettings.worldName = name;
-
-    // Logger
-    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
-    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
-            static_cast<uint>(rp3d::Logger::Level::Error);
-    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
-    mPhysicsCommon.setLogger(defaultLogger);
 }
 
 // Destructor

testbed/scenes/fixedjoint/FixedJointScene.h

@@ -70,7 +70,7 @@ class FixedJointScene : public SceneDemo {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        FixedJointScene(const std::string& name, EngineSettings& settings);
+        FixedJointScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon);
 
         /// Destructor
         virtual ~FixedJointScene() override ;

testbed/scenes/heightfield/HeightFieldScene.cpp

@@ -31,8 +31,8 @@ using namespace openglframework;
 using namespace heightfieldscene;
 
 // Constructor
-HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& settings)
+HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
-                 : SceneDemo(name, settings, true, SCENE_RADIUS) {
+                 : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) {
 
     mWorldSettings.gravity = rp3d::Vector3(settings.gravity.x, settings.gravity.y, settings.gravity.z);
 
@@ -45,13 +45,6 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
     setScenePosition(center, SCENE_RADIUS);
 
     mWorldSettings.worldName = name;
-
-    // Logger
-    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
-    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
-            static_cast<uint>(rp3d::Logger::Level::Error);
-    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
-    mPhysicsCommon.setLogger(defaultLogger);
 }
 
 // Destructor

testbed/scenes/heightfield/HeightFieldScene.h

@@ -88,7 +88,7 @@ class HeightFieldScene : public SceneDemo {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        HeightFieldScene(const std::string& name, EngineSettings& settings);
+        HeightFieldScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon);
 
         /// Destructor
         virtual ~HeightFieldScene() override;

testbed/scenes/hingejoint/HingeJointScene.cpp

@@ -32,8 +32,8 @@ using namespace openglframework;
 using namespace hingejointscene;
 
 // Constructor
-HingeJointScene::HingeJointScene(const std::string& name, EngineSettings& settings)
+HingeJointScene::HingeJointScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
-      : SceneDemo(name, settings, true, SCENE_RADIUS) {
+      : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) {
 
     // Compute the radius and the center of the scene
     openglframework::Vector3 center(0, 5, 0);
@@ -42,13 +42,6 @@ HingeJointScene::HingeJointScene(const std::string& name, EngineSettings& settin
     setScenePosition(center, SCENE_RADIUS);
 
     mWorldSettings.worldName = name;
-
-    // Logger
-    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
-    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
-            static_cast<uint>(rp3d::Logger::Level::Error);
-    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
-    mPhysicsCommon.setLogger(defaultLogger);
 }
 
 // Destructor

testbed/scenes/hingejoint/HingeJointScene.h

@@ -70,7 +70,7 @@ class HingeJointScene : public SceneDemo {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        HingeJointScene(const std::string& name, EngineSettings& settings);
+        HingeJointScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon);
 
         /// Destructor
         virtual ~HingeJointScene() override ;

testbed/scenes/hingejointschain/HingeJointsChainScene.cpp

@@ -32,8 +32,8 @@ using namespace openglframework;
 using namespace hingejointschainscene;
 
 // Constructor
-HingeJointsChainScene::HingeJointsChainScene(const std::string& name, EngineSettings& settings)
+HingeJointsChainScene::HingeJointsChainScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
-      : SceneDemo(name, settings, true, SCENE_RADIUS) {
+      : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) {
 
     std::string meshFolderPath("meshes/");
 
@@ -47,13 +47,6 @@ HingeJointsChainScene::HingeJointsChainScene(const std::string& name, EngineSett
     rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
 
     mWorldSettings.worldName = name;
-
-    // Logger
-    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
-    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
-            static_cast<uint>(rp3d::Logger::Level::Error);
-    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
-    mPhysicsCommon.setLogger(defaultLogger);
 }
 
 // Destructor

testbed/scenes/hingejointschain/HingeJointsChainScene.h

@@ -65,7 +65,7 @@ class HingeJointsChainScene : public SceneDemo {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        HingeJointsChainScene(const std::string& name, EngineSettings& settings);
+        HingeJointsChainScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon);
 
         /// Destructor
         virtual ~HingeJointsChainScene() override ;

testbed/scenes/joints/JointsScene.cpp

@@ -32,8 +32,8 @@ using namespace openglframework;
 using namespace jointsscene;
 
 // Constructor
-JointsScene::JointsScene(const std::string& name, EngineSettings& settings)
+JointsScene::JointsScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
-      : SceneDemo(name, settings, true, SCENE_RADIUS) {
+      : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) {
 
     // Compute the radius and the center of the scene
     openglframework::Vector3 center(0, 5, 0);
@@ -45,13 +45,6 @@ JointsScene::JointsScene(const std::string& name, EngineSettings& settings)
     rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
 
     mWorldSettings.worldName = name;
-
-    // Logger
-    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
-    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
-            static_cast<uint>(rp3d::Logger::Level::Error);
-    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
-    mPhysicsCommon.setLogger(defaultLogger);
 }
 
 // Destructor

testbed/scenes/joints/JointsScene.h

@@ -115,7 +115,7 @@ class JointsScene : public SceneDemo {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        JointsScene(const std::string& name, EngineSettings& settings);
+        JointsScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon);
 
         /// Destructor
         virtual ~JointsScene() override ;

testbed/scenes/pile/PileScene.cpp

@@ -31,8 +31,8 @@ using namespace openglframework;
 using namespace pilescene;
 
 // Constructor
-PileScene::PileScene(const std::string& name, EngineSettings& settings)
+PileScene::PileScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
-       : SceneDemo(name, settings, true, SCENE_RADIUS) {
+       : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) {
 
     std::string meshFolderPath("meshes/");
 
@@ -43,13 +43,6 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
     setScenePosition(center, SCENE_RADIUS);
 
     mWorldSettings.worldName = name;
-
-    // Logger
-    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
-    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
-            static_cast<uint>(rp3d::Logger::Level::Error);
-    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
-    mPhysicsCommon.setLogger(defaultLogger);
 }
 
 // Destructor

testbed/scenes/pile/PileScene.h

@@ -89,7 +89,7 @@ class PileScene : public SceneDemo {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        PileScene(const std::string& name, EngineSettings& settings);
+        PileScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon);
 
         /// Destructor
         virtual ~PileScene() override;

testbed/scenes/ragdoll/RagdollScene.cpp

@@ -32,8 +32,8 @@ using namespace openglframework;
 using namespace ragdollscene;
 
 // Constructor
-RagdollScene::RagdollScene(const std::string& name, EngineSettings& settings)
+RagdollScene::RagdollScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
-      : SceneDemo(name, settings, true, SCENE_RADIUS) {
+      : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) {
 
     // Compute the radius and the center of the scene
     openglframework::Vector3 center(0, 5, 0);
@@ -42,13 +42,6 @@ RagdollScene::RagdollScene(const std::string& name, EngineSettings& settings)
     setScenePosition(center, SCENE_RADIUS);
 
     mWorldSettings.worldName = name;
-
-    // Logger
-    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
-    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
-            static_cast<uint>(rp3d::Logger::Level::Error);
-    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
-    mPhysicsCommon.setLogger(defaultLogger);
 }
 
 // Destructor

testbed/scenes/ragdoll/RagdollScene.h

@@ -145,7 +145,7 @@ class RagdollScene : public SceneDemo {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        RagdollScene(const std::string& name, EngineSettings& settings);
+        RagdollScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon);
 
         /// Destructor
         virtual ~RagdollScene() override ;

testbed/scenes/raycast/RaycastScene.cpp

@@ -31,8 +31,8 @@ using namespace openglframework;
 using namespace raycastscene;
 
 // Constructor
-RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
+RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
-       : SceneDemo(name, settings, SCENE_RADIUS, false), mMeshFolderPath("meshes/"),
+       : SceneDemo(name, settings, physicsCommon, SCENE_RADIUS, false), mMeshFolderPath("meshes/"),
          mRaycastManager(mMeshFolderPath, mSnapshotsContactPoints), mCurrentBodyIndex(-1),
          mAreNormalsDisplayed(false), mVBOVertices(GL_ARRAY_BUFFER) {
 
@@ -45,13 +45,6 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
     rp3d::PhysicsWorld::WorldSettings worldSettings;
     worldSettings.worldName = name;
 
-    // Logger
-    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
-    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
-            static_cast<uint>(rp3d::Logger::Level::Error);
-    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
-    mPhysicsCommon.setLogger(defaultLogger);
-
     // Create the physics world for the physics simulation
     mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
 

testbed/scenes/raycast/RaycastScene.h

@@ -146,7 +146,7 @@ class RaycastScene : public SceneDemo {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        RaycastScene(const std::string& name, EngineSettings& settings);
+        RaycastScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon);
 
         /// Destructor
         virtual ~RaycastScene() override;

testbed/scenes/rope/RopeScene.cpp

@@ -32,8 +32,8 @@ using namespace openglframework;
 using namespace ropescene;
 
 // Constructor
-RopeScene::RopeScene(const std::string& name, EngineSettings& settings)
+RopeScene::RopeScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
-      : SceneDemo(name, settings, true, SCENE_RADIUS), nbIterations(0), nbTorqueIterations(200) {
+      : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS), nbIterations(0), nbTorqueIterations(200) {
 
     std::string meshFolderPath("meshes/");
 
@@ -46,13 +46,6 @@ RopeScene::RopeScene(const std::string& name, EngineSettings& settings)
     setScenePosition(center, SCENE_RADIUS);
 
     mWorldSettings.worldName = name;
-
-    // Logger
-    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
-    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
-            static_cast<uint>(rp3d::Logger::Level::Error);
-    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
-    mPhysicsCommon.setLogger(defaultLogger);
 }
 
 // Destructor

testbed/scenes/rope/RopeScene.h

@@ -81,7 +81,7 @@ class RopeScene : public SceneDemo {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        RopeScene(const std::string& name, EngineSettings& settings);
+        RopeScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon);
 
         /// Destructor
         virtual ~RopeScene() override ;

testbed/scenes/sliderjoint/SliderJointScene.cpp

@@ -32,8 +32,8 @@ using namespace openglframework;
 using namespace sliderjointscene;
 
 // Constructor
-SliderJointScene::SliderJointScene(const std::string& name, EngineSettings& settings)
+SliderJointScene::SliderJointScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
-      : SceneDemo(name, settings, true, SCENE_RADIUS) {
+      : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) {
 
     // Compute the radius and the center of the scene
     openglframework::Vector3 center(0, 5, 0);
@@ -42,13 +42,6 @@ SliderJointScene::SliderJointScene(const std::string& name, EngineSettings& sett
     setScenePosition(center, SCENE_RADIUS);
 
     mWorldSettings.worldName = name;
-
-    // Logger
-    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
-    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
-            static_cast<uint>(rp3d::Logger::Level::Error);
-    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
-    mPhysicsCommon.setLogger(defaultLogger);
 }
 
 // Destructor

testbed/scenes/sliderjoint/SliderJointScene.h

@@ -67,7 +67,7 @@ class SliderJointScene : public SceneDemo {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        SliderJointScene(const std::string& name, EngineSettings& settings);
+        SliderJointScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon);
 
         /// Destructor
         virtual ~SliderJointScene() override ;

testbed/src/SceneDemo.cpp

@@ -40,14 +40,14 @@ openglframework::Color SceneDemo::mSleepingColorDemo = Color(1.0f, 0.25f, 0.25f,
 openglframework::Color SceneDemo::mSelectedObjectColorDemo = Color(0.09f, 0.59f, 0.88f, 1.0f);
 
 // Constructor
-SceneDemo::SceneDemo(const std::string& name, EngineSettings& settings, bool isPhysicsWorldSimulated, float sceneRadius, bool isShadowMappingEnabled)
+SceneDemo::SceneDemo(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon, bool isPhysicsWorldSimulated, bool isShadowMappingEnabled)
           : Scene(name, settings, isShadowMappingEnabled), mIsShadowMappingInitialized(false),
                      mDepthShader("shaders/depth.vert", "shaders/depth.frag"),
                      mPhongShader("shaders/phong.vert", "shaders/phong.frag"),
 					 mColorShader("shaders/color.vert", "shaders/color.frag"),
                      mQuadShader("shaders/quad.vert", "shaders/quad.frag"),
                      mVBOQuad(GL_ARRAY_BUFFER), mDebugVBOLinesVertices(GL_ARRAY_BUFFER), mDebugVBOTrianglesVertices(GL_ARRAY_BUFFER),
-                     mMeshFolderPath("meshes/"), mPhysicsWorld(nullptr), mIsPhysicsWorldSimulated(isPhysicsWorldSimulated),
+                     mMeshFolderPath("meshes/"), mPhysicsCommon(physicsCommon), mPhysicsWorld(nullptr), mIsPhysicsWorldSimulated(isPhysicsWorldSimulated),
                     mIsMovingBody(false), mMovingBody(nullptr) {
 
     shadowMapTextureLevel++;

testbed/src/SceneDemo.h

@@ -31,6 +31,7 @@
 #include "VisualContactPoint.h"
 #include <reactphysics3d/reactphysics3d.h>
 #include "PhysicsObject.h"
+#include "TestbedLogger.h"
 
 // Constants
 const int SHADOWMAP_WIDTH = 2048;
@@ -113,7 +114,7 @@ class SceneDemo : public Scene, rp3d::RaycastCallback {
 
         std::string mMeshFolderPath;
 
-        rp3d::PhysicsCommon mPhysicsCommon;
+        rp3d::PhysicsCommon& mPhysicsCommon;
 
 		std::vector<PhysicsObject*> mPhysicsObjects;
 
@@ -168,7 +169,7 @@ class SceneDemo : public Scene, rp3d::RaycastCallback {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        SceneDemo(const std::string& name, EngineSettings& settings, bool isPhysicsWorldSimulated, float sceneRadius, bool isShadowMappingEnabled = true);
+        SceneDemo(const std::string& name, EngineSettings& settings, rp3d::PhysicsCommon& physicsCommon, bool isPhysicsWorldSimulated, bool isShadowMappingEnabled = true);
 
         /// Destructor
         virtual ~SceneDemo() override;

testbed/src/TestbedApplication.cpp

@@ -105,6 +105,9 @@ TestbedApplication::~TestbedApplication() {
 // Initialize the viewer
 void TestbedApplication::init() {
 
+    // Logger
+    rp3d::PhysicsCommon::setLogger(&mLogger);
+
     // Create all the scenes
     createScenes();
 
@@ -137,85 +140,128 @@ void TestbedApplication::init() {
 // Create all the scenes
 void TestbedApplication::createScenes() {
 
+    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information);
+
     // Cubes scene
-    CubesScene* cubeScene = new CubesScene("Cubes", mDefaultEngineSettings);
+    std::string sceneName = "Cubes";
+    mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML);
+    CubesScene* cubeScene = new CubesScene(sceneName, mDefaultEngineSettings, mPhysicsCommon);
     mScenes.push_back(cubeScene);
 
     // Cube Stack scene
-    CubeStackScene* cubeStackScene = new CubeStackScene("Cube Stack", mDefaultEngineSettings);
+    sceneName = "Cube Stack";
+    mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML);
+    CubeStackScene* cubeStackScene = new CubeStackScene(sceneName, mDefaultEngineSettings, mPhysicsCommon);
     mScenes.push_back(cubeStackScene);
 
     // Joints scene
-    JointsScene* jointsScene = new JointsScene("Joints", mDefaultEngineSettings);
+    sceneName = "Joints";
+    mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML);
+    JointsScene* jointsScene = new JointsScene(sceneName, mDefaultEngineSettings, mPhysicsCommon);
     mScenes.push_back(jointsScene);
 
     // Collision shapes scene
-    CollisionShapesScene* collisionShapesScene = new CollisionShapesScene("Collision Shapes", mDefaultEngineSettings);
+    sceneName = "Collision Shapes";
+    mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML);
+    CollisionShapesScene* collisionShapesScene = new CollisionShapesScene(sceneName, mDefaultEngineSettings, mPhysicsCommon);
     mScenes.push_back(collisionShapesScene);
 
     // Heightfield shape scene
-    HeightFieldScene* heightFieldScene = new HeightFieldScene("Heightfield", mDefaultEngineSettings);
+    sceneName = "Heightfield";
+    mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML);
+    HeightFieldScene* heightFieldScene = new HeightFieldScene(sceneName, mDefaultEngineSettings, mPhysicsCommon);
     mScenes.push_back(heightFieldScene);
 
     // Raycast scene
-    RaycastScene* raycastScene = new RaycastScene("Raycast", mDefaultEngineSettings);
+    sceneName = "Raycast";
+    mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML);
+    RaycastScene* raycastScene = new RaycastScene(sceneName, mDefaultEngineSettings, mPhysicsCommon);
     mScenes.push_back(raycastScene);
 
     // Collision Detection scene
-    CollisionDetectionScene* collisionDetectionScene = new CollisionDetectionScene("Collision Detection", mDefaultEngineSettings);
+    sceneName = "Collision Detection";
+    mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML);
+    CollisionDetectionScene* collisionDetectionScene = new CollisionDetectionScene(sceneName, mDefaultEngineSettings, mPhysicsCommon);
     mScenes.push_back(collisionDetectionScene);
 
     // Concave Mesh scene
-    ConcaveMeshScene* concaveMeshScene = new ConcaveMeshScene("Concave Mesh", mDefaultEngineSettings);
+    sceneName = "Concave Mesh";
+    mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML);
+    ConcaveMeshScene* concaveMeshScene = new ConcaveMeshScene(sceneName, mDefaultEngineSettings, mPhysicsCommon);
     mScenes.push_back(concaveMeshScene);
 
     // Pile scene
-    PileScene* pileScene = new PileScene("Pile", mDefaultEngineSettings);
+    sceneName = "Pile";
+    mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML);
+    PileScene* pileScene = new PileScene(sceneName, mDefaultEngineSettings, mPhysicsCommon);
     mScenes.push_back(pileScene);
 
     // Ball and Socket joint scene
-    BallAndSocketJointScene* ballAndSocketJointScene = new BallAndSocketJointScene("Ball and Socket joint", mDefaultEngineSettings);
+    sceneName = "Ball and Socket joint";
+    mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML);
+    BallAndSocketJointScene* ballAndSocketJointScene = new BallAndSocketJointScene(sceneName, mDefaultEngineSettings, mPhysicsCommon);
     mScenes.push_back(ballAndSocketJointScene);
 
     // Box Tower scene
-    BoxTowerScene* boxTowerScene = new BoxTowerScene("Box Tower", mDefaultEngineSettings);
+    sceneName = "Box Tower";
+    mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML);
+    BoxTowerScene* boxTowerScene = new BoxTowerScene(sceneName, mDefaultEngineSettings, mPhysicsCommon);
     mScenes.push_back(boxTowerScene);
 
     // Ball and Socket joints Net scene
-    BallAndSocketJointsNetScene* ballAndSocketJointsNetScene = new BallAndSocketJointsNetScene("BallAndSocket Joints Net", mDefaultEngineSettings);
+    sceneName = "BallAndSocket Joints Net";
+    mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML);
+    BallAndSocketJointsNetScene* ballAndSocketJointsNetScene = new BallAndSocketJointsNetScene(sceneName, mDefaultEngineSettings, mPhysicsCommon);
     mScenes.push_back(ballAndSocketJointsNetScene);
 
     // Ball and Socket joints chain scene
-    BallAndSocketJointsChainScene* ballAndSocketJointsChainScene = new BallAndSocketJointsChainScene("BallAndSocket Joints Chain", mDefaultEngineSettings);
+    sceneName = "BallAndSoket Joints Chain";
+    mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML);
+    BallAndSocketJointsChainScene* ballAndSocketJointsChainScene = new BallAndSocketJointsChainScene(sceneName, mDefaultEngineSettings, mPhysicsCommon);
     mScenes.push_back(ballAndSocketJointsChainScene);
 
     // Hinge joints chain scene
-    HingeJointsChainScene* hingeJointsChainScene = new HingeJointsChainScene("Hinge Joints Chain", mDefaultEngineSettings);
+    sceneName = "Hinge Joints Chain";
+    mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML);
+    HingeJointsChainScene* hingeJointsChainScene = new HingeJointsChainScene(sceneName, mDefaultEngineSettings, mPhysicsCommon);
     mScenes.push_back(hingeJointsChainScene);
 
     // Bridge scene
-    BridgeScene* bridgeScene = new BridgeScene("Bridge", mDefaultEngineSettings);
+    sceneName = "Bridge";
+    mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML);
+    BridgeScene* bridgeScene = new BridgeScene(sceneName, mDefaultEngineSettings, mPhysicsCommon);
     mScenes.push_back(bridgeScene);
 
     // Fixed joint scene
-    FixedJointScene* fixedJointScene = new FixedJointScene("Fixed joint", mDefaultEngineSettings);
+    sceneName = "Fixed joint";
+    mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML);
+    FixedJointScene* fixedJointScene = new FixedJointScene(sceneName, mDefaultEngineSettings, mPhysicsCommon);
     mScenes.push_back(fixedJointScene);
 
     // Hinge joint scene
-    HingeJointScene* hingeJointScene = new HingeJointScene("Hinge joint", mDefaultEngineSettings);
+    sceneName = "Hinge joint";
+    mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML);
+    HingeJointScene* hingeJointScene = new HingeJointScene(sceneName, mDefaultEngineSettings, mPhysicsCommon);
     mScenes.push_back(hingeJointScene);
 
     // Slider joint scene
-    SliderJointScene* sliderJointScene = new SliderJointScene("Slider joint", mDefaultEngineSettings);
+    sceneName = "Slider joint";
+    mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML);
+    SliderJointScene* sliderJointScene = new SliderJointScene(sceneName, mDefaultEngineSettings, mPhysicsCommon);
     mScenes.push_back(sliderJointScene);
 
     // Ragdoll scene
-    RagdollScene* ragdollScene = new RagdollScene("Ragdoll", mDefaultEngineSettings);
+    sceneName = "Ragdoll";
+    mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML);
+    RagdollScene* ragdollScene = new RagdollScene(sceneName, mDefaultEngineSettings, mPhysicsCommon);
     mScenes.push_back(ragdollScene);
 
     // Rope scene
-    RopeScene* ropeScene = new RopeScene("Rope", mDefaultEngineSettings);
+    sceneName = "Rope";
+    mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML);
+    RopeScene* ropeScene = new RopeScene(sceneName, mDefaultEngineSettings, mPhysicsCommon);
     mScenes.push_back(ropeScene);
+
     assert(mScenes.size() > 0);
 }
 

testbed/src/TestbedApplication.h

@@ -32,6 +32,7 @@
 #include "Scene.h"
 #include "Timer.h"
 #include <GLFW/glfw3.h>
+#include "TestbedLogger.h"
 
 using namespace nanogui;
 
@@ -56,6 +57,9 @@ class TestbedApplication : public Screen {
         /// Timer
         Timer mTimer;
 
+        /// Physics common object
+        rp3d::PhysicsCommon mPhysicsCommon;
+
         /// List of 3D scenes
         std::vector<Scene*> mScenes;
 
@@ -127,6 +131,9 @@ class TestbedApplication : public Screen {
         /// True if the debug renderer is enabled
         bool mIsDebugRendererEnabled;
 
+        /// Logger
+        TestbedLogger mLogger;
+
         // -------------------- Methods -------------------- //
 
         /// Private copy-constructor (for the singleton class)

testbed/src/TestbedLogger.cpp

@@ -0,0 +1,98 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2021 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+// Libraries
+#include "TestbedLogger.h"
+
+using namespace reactphysics3d;
+
+// Constructor
+TestbedLogger::TestbedLogger() {
+
+    // Create the log formatters
+    mFormatters.insert({reactphysics3d::DefaultLogger::Format::Text, new reactphysics3d::DefaultLogger::TextFormatter()});
+    mFormatters.insert({reactphysics3d::DefaultLogger::Format::HTML, new reactphysics3d::DefaultLogger::HtmlFormatter()});
+
+    // Add destination to send warning and errors to standard output
+    uint warningsErrors = static_cast<uint>(reactphysics3d::Logger::Level::Warning);
+    addStreamDestination(std::cout, warningsErrors, reactphysics3d::DefaultLogger::Format::Text);
+}
+
+// Destructor
+TestbedLogger::~TestbedLogger() {
+
+    // Delete all the destinations
+    for (auto& item: mMapWorldToDestinations) {
+       delete item.second;
+    }
+
+    delete mStandardOutputDestination;
+}
+
+// Log something
+void TestbedLogger::log(Level level, const std::string& physicsWorldName, Category category, const std::string& message, const char* filename, int lineNumber) {
+
+    // Get current time
+    auto now = std::chrono::system_clock::now();
+    auto time = std::chrono::system_clock::to_time_t(now);
+
+    // Get the destination file for this world
+    DefaultLogger::Destination* destination = mMapWorldToDestinations[physicsWorldName];
+
+    mMutex.lock();
+
+    // Write the log file into the file of the corresponding scene
+    destination->write(time, physicsWorldName, message, level, category, filename, lineNumber);
+
+    // Write the log into the standard output
+    mStandardOutputDestination->write(time, physicsWorldName, message, level, category, filename, lineNumber);
+
+    mMutex.unlock();
+}
+
+// Return the corresponding format
+DefaultLogger::Formatter* TestbedLogger::getFormatter(DefaultLogger::Format format) const {
+
+   auto it = mFormatters.find(format);
+   if (it != mFormatters.end()) {
+       return it->second;
+   }
+
+   return nullptr;
+}
+
+// Add a log file destination to the logger
+void TestbedLogger::addFileDestination(const std::string& worldName, uint logLevelFlag, reactphysics3d::DefaultLogger::Format format) {
+
+    std::string filePath = "rp3d_log_" + worldName + ".html";
+    reactphysics3d::DefaultLogger::FileDestination* destination = new reactphysics3d::DefaultLogger::FileDestination(filePath, logLevelFlag, getFormatter(format));
+    mMapWorldToDestinations.insert({worldName, destination});
+}
+
+// Add a stream destination to the logger
+void TestbedLogger::addStreamDestination(std::ostream& outputStream, uint logLevelFlag, reactphysics3d::DefaultLogger::Format format) {
+
+    mStandardOutputDestination = new reactphysics3d::DefaultLogger::StreamDestination(outputStream, logLevelFlag, getFormatter(format));
+}

testbed/src/TestbedLogger.h

@@ -0,0 +1,74 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2016 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+#ifndef TESTBED_LOGGER_H
+#define	TESTBED_LOGGER_H
+
+// Libraries
+#include <reactphysics3d/utils/DefaultLogger.h>
+#include <unordered_map>
+#include <string>
+
+/// Class TestbedApplication
+class TestbedLogger : public reactphysics3d::Logger {
+
+    private:
+
+        /// Map a log format to the given formatter object
+        std::unordered_map<reactphysics3d::DefaultLogger::Format, reactphysics3d::DefaultLogger::Formatter*> mFormatters;
+
+        /// Map the name of a world with the corresponding log destination
+        std::unordered_map<std::string, reactphysics3d::DefaultLogger::Destination*> mMapWorldToDestinations;
+
+        reactphysics3d::DefaultLogger::StreamDestination* mStandardOutputDestination;
+
+        /// Mutex
+        std::mutex mMutex;
+
+        // -------------------- Methods -------------------- //
+
+        /// Return the corresponding formatter
+        reactphysics3d::DefaultLogger::Formatter* getFormatter(reactphysics3d::DefaultLogger::Format format) const;
+
+        /// Add a stream destination to the logger
+        void addStreamDestination(std::ostream& outputStream, uint logLevelFlag, reactphysics3d::DefaultLogger::Format format);
+
+    public:
+
+        /// Constructor
+        TestbedLogger();
+
+        /// Destructor
+        ~TestbedLogger();
+
+        /// Add a log file destination to the logger
+        void addFileDestination(const std::string& worldName, uint logLevelFlag, reactphysics3d::DefaultLogger::Format format);
+
+
+        /// Log something
+        virtual void log(Level level, const std::string& physicsWorldName, Category category, const std::string& message, const char* filename, int lineNumber) override;
+};
+
+#endif