diff --git a/CMakeLists.txt b/CMakeLists.txt index 0566a735..09a5ae73 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -21,6 +21,7 @@ ENABLE_TESTING() OPTION(COMPILE_TESTBED "Select this if you want to build the testbed application" OFF) OPTION(COMPILE_TESTS "Select this if you want to build the tests" OFF) OPTION(PROFILING_ENABLED "Select this if you want to compile with enabled profiling" OFF) +OPTION(LOGS_ENABLED "Select this if you want to compile with logs enabled during execution" OFF) OPTION(DOUBLE_PRECISION_ENABLED "Select this if you want to compile using double precision floating values" OFF) @@ -45,6 +46,10 @@ IF(PROFILING_ENABLED) ADD_DEFINITIONS(-DIS_PROFILING_ACTIVE) ENDIF(PROFILING_ENABLED) +IF(LOGS_ENABLED) + ADD_DEFINITIONS(-DIS_LOGGING_ACTIVE) +ENDIF(LOGS_ENABLED) + IF(DOUBLE_PRECISION_ENABLED) ADD_DEFINITIONS(-DIS_DOUBLE_PRECISION_ENABLED) ENDIF(DOUBLE_PRECISION_ENABLED) @@ -164,8 +169,6 @@ SET (REACTPHYSICS3D_SOURCES "src/engine/Material.cpp" "src/engine/OverlappingPair.h" "src/engine/OverlappingPair.cpp" - "src/engine/Profiler.h" - "src/engine/Profiler.cpp" "src/engine/Timer.h" "src/engine/Timer.cpp" "src/collision/CollisionCallback.h" @@ -201,6 +204,10 @@ SET (REACTPHYSICS3D_SOURCES "src/containers/Map.h" "src/containers/Set.h" "src/containers/Pair.h" + "src/utils/Profiler.h" + "src/utils/Profiler.cpp" + "src/utils/Logger.h" + "src/utils/Logger.cpp" ) # Create the library diff --git a/src/body/Body.h b/src/body/Body.h index b1b18325..4a46e83f 100644 --- a/src/body/Body.h +++ b/src/body/Body.h @@ -92,7 +92,7 @@ class Body { virtual ~Body() = default; /// Return the ID of the body - bodyindex getID() const; + bodyindex getId() const; /// Return whether or not the body is allowed to sleep bool isAllowedToSleep() const; @@ -137,9 +137,9 @@ class Body { // Return the id of the body /** - * @return The ID of the body + * @return The id of the body */ -inline bodyindex Body::getID() const { +inline bodyindex Body::getId() const { return mID; } diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h index 9943dc86..2520cab4 100644 --- a/src/body/CollisionBody.h +++ b/src/body/CollisionBody.h @@ -36,7 +36,7 @@ #include "collision/RaycastInfo.h" #include "memory/PoolAllocator.h" #include "configuration.h" -#include "engine/Profiler.h" +#include "utils/Profiler.h" /// Namespace reactphysics3d namespace reactphysics3d { diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 4d79f186..ab4b0c8e 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -459,7 +459,7 @@ void RigidBody::recomputeMassInformation() { // Update the broad-phase state for this body (because it has moved for instance) void RigidBody::updateBroadPhaseState() const { - PROFILE("RigidBody::updateBroadPhaseState()", mProfiler); + RP3D_PROFILE("RigidBody::updateBroadPhaseState()", mProfiler); DynamicsWorld& world = static_cast(mWorld); const Vector3 displacement = world.mTimeStep * mLinearVelocity; diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index ffbc56c7..dc2272f9 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -68,7 +68,7 @@ CollisionDetection::CollisionDetection(CollisionWorld* world, MemoryManager& mem // Compute the collision detection void CollisionDetection::computeCollisionDetection() { - PROFILE("CollisionDetection::computeCollisionDetection()", mProfiler); + RP3D_PROFILE("CollisionDetection::computeCollisionDetection()", mProfiler); // Compute the broad-phase collision detection computeBroadPhase(); @@ -86,7 +86,7 @@ void CollisionDetection::computeCollisionDetection() { // Compute the broad-phase collision detection void CollisionDetection::computeBroadPhase() { - PROFILE("CollisionDetection::computeBroadPhase()", mProfiler); + RP3D_PROFILE("CollisionDetection::computeBroadPhase()", mProfiler); // If new collision shapes have been added to bodies if (mIsCollisionShapesAdded) { @@ -101,7 +101,7 @@ void CollisionDetection::computeBroadPhase() { // Compute the middle-phase collision detection void CollisionDetection::computeMiddlePhase() { - PROFILE("CollisionDetection::computeMiddlePhase()", mProfiler); + RP3D_PROFILE("CollisionDetection::computeMiddlePhase()", mProfiler); // For each possible collision pair of bodies Map, OverlappingPair*>::Iterator it; @@ -251,7 +251,7 @@ void CollisionDetection::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair // Compute the narrow-phase collision detection void CollisionDetection::computeNarrowPhase() { - PROFILE("CollisionDetection::computeNarrowPhase()", mProfiler); + RP3D_PROFILE("CollisionDetection::computeNarrowPhase()", mProfiler); NarrowPhaseInfo* currentNarrowPhaseInfo = mNarrowPhaseInfoList; while (currentNarrowPhaseInfo != nullptr) { @@ -364,7 +364,7 @@ void CollisionDetection::removeProxyCollisionShape(ProxyShape* proxyShape) { void CollisionDetection::addAllContactManifoldsToBodies() { - PROFILE("CollisionDetection::addAllContactManifoldsToBodies()", mProfiler); + RP3D_PROFILE("CollisionDetection::addAllContactManifoldsToBodies()", mProfiler); // For each overlapping pairs in contact during the narrow-phase Map, OverlappingPair*>::Iterator it; @@ -415,7 +415,7 @@ void CollisionDetection::addContactManifoldToBody(OverlappingPair* pair) { /// Convert the potential contact into actual contacts void CollisionDetection::processAllPotentialContacts() { - PROFILE("CollisionDetection::processAllPotentialContacts()", mProfiler); + RP3D_PROFILE("CollisionDetection::processAllPotentialContacts()", mProfiler); // For each overlapping pairs in contact during the narrow-phase Map, OverlappingPair*>::Iterator it; @@ -454,7 +454,7 @@ void CollisionDetection::processPotentialContacts(OverlappingPair* pair) { // Report contacts for all the colliding overlapping pairs void CollisionDetection::reportAllContacts() { - PROFILE("CollisionDetection::reportAllContacts()", mProfiler); + RP3D_PROFILE("CollisionDetection::reportAllContacts()", mProfiler); // For each overlapping pairs in contact during the narrow-phase Map, OverlappingPair*>::Iterator it; @@ -532,13 +532,13 @@ void CollisionDetection::testAABBOverlap(const AABB& aabb, OverlapCallback* over CollisionBody* overlapBody = proxyShape->getBody(); // If the proxy shape is from a body that we have not already reported collision - if (reportedBodies.find(overlapBody->getID()) == reportedBodies.end()) { + if (reportedBodies.find(overlapBody->getId()) == reportedBodies.end()) { // Check if the collision filtering allows collision between the two shapes if ((proxyShape->getCollisionCategoryBits() & categoryMaskBits) != 0) { // Add the body into the set of reported bodies - reportedBodies.add(overlapBody->getID()); + reportedBodies.add(overlapBody->getId()); // Notify the overlap to the user overlapCallback->notifyOverlap(overlapBody); @@ -646,7 +646,7 @@ void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overl LinkedList overlappingNodes(mMemoryManager.getPoolAllocator()); mBroadPhaseAlgorithm.reportAllShapesOverlappingWithAABB(shapeAABB, overlappingNodes); - const bodyindex bodyId = body->getID(); + const bodyindex bodyId = body->getId(); // For each overlaping proxy shape LinkedList::ListElement* element = overlappingNodes.getListHead(); @@ -658,8 +658,8 @@ void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overl // If the proxy shape is from a body that we have not already reported collision and the // two proxy collision shapes are not from the same body - if (reportedBodies.find(proxyShape->getBody()->getID()) == reportedBodies.end() && - proxyShape->getBody()->getID() != bodyId) { + if (reportedBodies.find(proxyShape->getBody()->getId()) == reportedBodies.end() && + proxyShape->getBody()->getId() != bodyId) { // Check if the collision filtering allows collision between the two shapes if ((proxyShape->getCollisionCategoryBits() & categoryMaskBits) != 0) { @@ -711,7 +711,7 @@ void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overl CollisionBody* overlapBody = proxyShape->getBody(); // Add the body into the set of reported bodies - reportedBodies.add(overlapBody->getID()); + reportedBodies.add(overlapBody->getId()); // Notify the overlap to the user overlapCallback->notifyOverlap(overlapBody); @@ -826,7 +826,7 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c LinkedList overlappingNodes(mMemoryManager.getPoolAllocator()); mBroadPhaseAlgorithm.reportAllShapesOverlappingWithAABB(shapeAABB, overlappingNodes); - const bodyindex bodyId = body->getID(); + const bodyindex bodyId = body->getId(); // For each overlaping proxy shape LinkedList::ListElement* element = overlappingNodes.getListHead(); @@ -837,7 +837,7 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c ProxyShape* proxyShape = mBroadPhaseAlgorithm.getProxyShapeForBroadPhaseId(broadPhaseId); // If the two proxy collision shapes are not from the same body - if (proxyShape->getBody()->getID() != bodyId) { + if (proxyShape->getBody()->getId() != bodyId) { // Check if the collision filtering allows collision between the two shapes if ((proxyShape->getCollisionCategoryBits() & categoryMaskBits) != 0) { diff --git a/src/collision/CollisionDetection.h b/src/collision/CollisionDetection.h index 4dc45634..d8f5240a 100644 --- a/src/collision/CollisionDetection.h +++ b/src/collision/CollisionDetection.h @@ -314,7 +314,7 @@ inline void CollisionDetection::raycast(RaycastCallback* raycastCallback, const Ray& ray, unsigned short raycastWithCategoryMaskBits) const { - PROFILE("CollisionDetection::raycast()", mProfiler); + RP3D_PROFILE("CollisionDetection::raycast()", mProfiler); RaycastTest rayCastTest(raycastCallback); diff --git a/src/collision/broadphase/BroadPhaseAlgorithm.cpp b/src/collision/broadphase/BroadPhaseAlgorithm.cpp index 5f76e2c2..fbad0cfd 100644 --- a/src/collision/broadphase/BroadPhaseAlgorithm.cpp +++ b/src/collision/broadphase/BroadPhaseAlgorithm.cpp @@ -26,7 +26,7 @@ // Libraries #include "BroadPhaseAlgorithm.h" #include "collision/CollisionDetection.h" -#include "engine/Profiler.h" +#include "utils/Profiler.h" // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; @@ -257,7 +257,7 @@ void BroadPhaseAlgorithm::computeOverlappingPairs(MemoryManager& memoryManager) ProxyShape* shape2 = static_cast(mDynamicAABBTree.getNodeDataPointer(pair->collisionShape2ID)); // If the two proxy collision shapes are from the same body, skip it - if (shape1->getBody()->getID() != shape2->getBody()->getID()) { + if (shape1->getBody()->getId() != shape2->getBody()->getId()) { // Notify the collision detection about the overlapping pair mCollisionDetection.broadPhaseNotifyOverlappingPair(shape1, shape2); diff --git a/src/collision/broadphase/BroadPhaseAlgorithm.h b/src/collision/broadphase/BroadPhaseAlgorithm.h index 3ae18677..df642677 100644 --- a/src/collision/broadphase/BroadPhaseAlgorithm.h +++ b/src/collision/broadphase/BroadPhaseAlgorithm.h @@ -30,7 +30,7 @@ #include "body/CollisionBody.h" #include "collision/ProxyShape.h" #include "DynamicAABBTree.h" -#include "engine/Profiler.h" +#include "utils/Profiler.h" #include "containers/LinkedList.h" /// Namespace ReactPhysics3D @@ -265,7 +265,7 @@ inline const AABB& BroadPhaseAlgorithm::getFatAABB(int broadPhaseId) const { inline void BroadPhaseAlgorithm::raycast(const Ray& ray, RaycastTest& raycastTest, unsigned short raycastWithCategoryMaskBits) const { - PROFILE("BroadPhaseAlgorithm::raycast()", mProfiler); + RP3D_PROFILE("BroadPhaseAlgorithm::raycast()", mProfiler); BroadPhaseRaycastCallback broadPhaseRaycastCallback(mDynamicAABBTree, raycastWithCategoryMaskBits, raycastTest); diff --git a/src/collision/broadphase/DynamicAABBTree.cpp b/src/collision/broadphase/DynamicAABBTree.cpp index bbc4b109..8e8bab04 100644 --- a/src/collision/broadphase/DynamicAABBTree.cpp +++ b/src/collision/broadphase/DynamicAABBTree.cpp @@ -27,7 +27,7 @@ #include "DynamicAABBTree.h" #include "BroadPhaseAlgorithm.h" #include "containers/Stack.h" -#include "engine/Profiler.h" +#include "utils/Profiler.h" using namespace reactphysics3d; @@ -173,7 +173,7 @@ void DynamicAABBTree::removeObject(int nodeID) { /// (this can be useful if the shape AABB has become much smaller than the previous one for instance). bool DynamicAABBTree::updateObject(int nodeID, const AABB& newAABB, const Vector3& displacement, bool forceReinsert) { - PROFILE("DynamicAABBTree::updateObject()", mProfiler); + RP3D_PROFILE("DynamicAABBTree::updateObject()", mProfiler); assert(nodeID >= 0 && nodeID < mNbAllocatedNodes); assert(mNodes[nodeID].isLeaf()); @@ -635,7 +635,7 @@ void DynamicAABBTree::reportAllShapesOverlappingWithAABB(const AABB& aabb, // Ray casting method void DynamicAABBTree::raycast(const Ray& ray, DynamicAABBTreeRaycastCallback &callback) const { - PROFILE("DynamicAABBTree::raycast()", mProfiler); + RP3D_PROFILE("DynamicAABBTree::raycast()", mProfiler); decimal maxFraction = ray.maxFraction; diff --git a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp index a7bc8667..a7d647ae 100644 --- a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp +++ b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp @@ -29,7 +29,7 @@ #include "engine/OverlappingPair.h" #include "collision/shapes/TriangleShape.h" #include "configuration.h" -#include "engine/Profiler.h" +#include "utils/Profiler.h" #include #include #include @@ -49,7 +49,7 @@ using namespace reactphysics3d; /// the correct penetration depth and contact points between the enlarged objects. GJKAlgorithm::GJKResult GJKAlgorithm::testCollision(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts) { - PROFILE("GJKAlgorithm::testCollision()", mProfiler); + RP3D_PROFILE("GJKAlgorithm::testCollision()", mProfiler); Vector3 suppA; // Support point of object A Vector3 suppB; // Support point of object B diff --git a/src/collision/narrowphase/SAT/SATAlgorithm.cpp b/src/collision/narrowphase/SAT/SATAlgorithm.cpp index 66be7d06..421a4b5d 100644 --- a/src/collision/narrowphase/SAT/SATAlgorithm.cpp +++ b/src/collision/narrowphase/SAT/SATAlgorithm.cpp @@ -32,7 +32,7 @@ #include "engine/OverlappingPair.h" #include "collision/shapes/TriangleShape.h" #include "configuration.h" -#include "engine/Profiler.h" +#include "utils/Profiler.h" #include #include #include @@ -52,7 +52,7 @@ SATAlgorithm::SATAlgorithm(MemoryAllocator& memoryAllocator) : mMemoryAllocator( // Test collision between a sphere and a convex mesh bool SATAlgorithm::testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts) const { - PROFILE("SATAlgorithm::testCollisionSphereVsConvexPolyhedron()", mProfiler); + RP3D_PROFILE("SATAlgorithm::testCollisionSphereVsConvexPolyhedron()", mProfiler); bool isSphereShape1 = narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::SPHERE; @@ -127,7 +127,7 @@ bool SATAlgorithm::testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfo* narrow decimal SATAlgorithm::computePolyhedronFaceVsSpherePenetrationDepth(uint faceIndex, const ConvexPolyhedronShape* polyhedron, const SphereShape* sphere, const Vector3& sphereCenter) const { - PROFILE("SATAlgorithm::computePolyhedronFaceVsSpherePenetrationDepth)", mProfiler); + RP3D_PROFILE("SATAlgorithm::computePolyhedronFaceVsSpherePenetrationDepth)", mProfiler); // Get the face const HalfEdgeStructure::Face& face = polyhedron->getFace(faceIndex); @@ -144,7 +144,7 @@ decimal SATAlgorithm::computePolyhedronFaceVsSpherePenetrationDepth(uint faceInd // Test collision between a capsule and a convex mesh bool SATAlgorithm::testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts) const { - PROFILE("SATAlgorithm::testCollisionCapsuleVsConvexPolyhedron()", mProfiler); + RP3D_PROFILE("SATAlgorithm::testCollisionCapsuleVsConvexPolyhedron()", mProfiler); bool isCapsuleShape1 = narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::CAPSULE; @@ -304,7 +304,7 @@ decimal SATAlgorithm::computeEdgeVsCapsuleInnerSegmentPenetrationDepth(const Con const Vector3& edgeDirectionCapsuleSpace, const Transform& polyhedronToCapsuleTransform, Vector3& outAxis) const { - PROFILE("SATAlgorithm::computeEdgeVsCapsuleInnerSegmentPenetrationDepth)", mProfiler); + RP3D_PROFILE("SATAlgorithm::computeEdgeVsCapsuleInnerSegmentPenetrationDepth)", mProfiler); decimal penetrationDepth = DECIMAL_LARGEST; @@ -338,7 +338,7 @@ decimal SATAlgorithm::computePolyhedronFaceVsCapsulePenetrationDepth(uint polyhe const CapsuleShape* capsule, const Transform& polyhedronToCapsuleTransform, Vector3& outFaceNormalCapsuleSpace) const { - PROFILE("SATAlgorithm::computePolyhedronFaceVsCapsulePenetrationDepth", mProfiler); + RP3D_PROFILE("SATAlgorithm::computePolyhedronFaceVsCapsulePenetrationDepth", mProfiler); // Get the face const HalfEdgeStructure::Face& face = polyhedron->getFace(polyhedronFaceIndex); @@ -364,7 +364,7 @@ bool SATAlgorithm::computeCapsulePolyhedronFaceContactPoints(uint referenceFaceI const Vector3& capsuleSegAPolyhedronSpace, const Vector3& capsuleSegBPolyhedronSpace, NarrowPhaseInfo* narrowPhaseInfo, bool isCapsuleShape1) const { - PROFILE("SATAlgorithm::computeCapsulePolyhedronFaceContactPoints", mProfiler); + RP3D_PROFILE("SATAlgorithm::computeCapsulePolyhedronFaceContactPoints", mProfiler); const HalfEdgeStructure::Face& face = polyhedron->getFace(referenceFaceIndex); @@ -459,7 +459,7 @@ bool SATAlgorithm::isMinkowskiFaceCapsuleVsEdge(const Vector3& capsuleSegment, c // Test collision between two convex polyhedrons bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts) const { - PROFILE("SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron()", mProfiler); + RP3D_PROFILE("SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron()", mProfiler); assert(narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::CONVEX_POLYHEDRON); assert(narrowPhaseInfo->collisionShape2->getType() == CollisionShapeType::CONVEX_POLYHEDRON); @@ -804,7 +804,7 @@ bool SATAlgorithm::computePolyhedronVsPolyhedronFaceContactPoints(bool isMinPene const Transform& polyhedron1ToPolyhedron2, const Transform& polyhedron2ToPolyhedron1, uint minFaceIndex, NarrowPhaseInfo* narrowPhaseInfo, decimal minPenetrationDepth) const { - PROFILE("SATAlgorithm::computePolyhedronVsPolyhedronFaceContactPoints", mProfiler); + RP3D_PROFILE("SATAlgorithm::computePolyhedronVsPolyhedronFaceContactPoints", mProfiler); const ConvexPolyhedronShape* referencePolyhedron = isMinPenetrationFaceNormalPolyhedron1 ? polyhedron1 : polyhedron2; const ConvexPolyhedronShape* incidentPolyhedron = isMinPenetrationFaceNormalPolyhedron1 ? polyhedron2 : polyhedron1; @@ -919,7 +919,7 @@ decimal SATAlgorithm::computeDistanceBetweenEdges(const Vector3& edge1A, const V const Vector3& edge1Direction, const Vector3& edge2Direction, Vector3& outSeparatingAxisPolyhedron2Space) const { - PROFILE("SATAlgorithm::computeDistanceBetweenEdges", mProfiler); + RP3D_PROFILE("SATAlgorithm::computeDistanceBetweenEdges", mProfiler); // If the two edges are parallel if (areParallelVectors(edge1Direction, edge2Direction)) { @@ -948,7 +948,7 @@ decimal SATAlgorithm::testSingleFaceDirectionPolyhedronVsPolyhedron(const Convex const Transform& polyhedron1ToPolyhedron2, uint faceIndex) const { - PROFILE("SATAlgorithm::testSingleFaceDirectionPolyhedronVsPolyhedron", mProfiler); + RP3D_PROFILE("SATAlgorithm::testSingleFaceDirectionPolyhedronVsPolyhedron", mProfiler); const HalfEdgeStructure::Face& face = polyhedron1->getFace(faceIndex); @@ -974,7 +974,7 @@ decimal SATAlgorithm::testFacesDirectionPolyhedronVsPolyhedron(const ConvexPolyh const Transform& polyhedron1ToPolyhedron2, uint& minFaceIndex) const { - PROFILE("SATAlgorithm::testFacesDirectionPolyhedronVsPolyhedron", mProfiler); + RP3D_PROFILE("SATAlgorithm::testFacesDirectionPolyhedronVsPolyhedron", mProfiler); decimal minPenetrationDepth = DECIMAL_LARGEST; @@ -1006,7 +1006,7 @@ bool SATAlgorithm::testEdgesBuildMinkowskiFace(const ConvexPolyhedronShape* poly const ConvexPolyhedronShape* polyhedron2, const HalfEdgeStructure::Edge& edge2, const Transform& polyhedron1ToPolyhedron2) const { - PROFILE("SATAlgorithm::testEdgesBuildMinkowskiFace", mProfiler); + RP3D_PROFILE("SATAlgorithm::testEdgesBuildMinkowskiFace", mProfiler); const Vector3 a = polyhedron1ToPolyhedron2.getOrientation() * polyhedron1->getFaceNormal(edge1.faceIndex); const Vector3 b = polyhedron1ToPolyhedron2.getOrientation() * polyhedron1->getFaceNormal(polyhedron1->getHalfEdge(edge1.twinEdgeIndex).faceIndex); @@ -1039,7 +1039,7 @@ bool SATAlgorithm::testEdgesBuildMinkowskiFace(const ConvexPolyhedronShape* poly bool SATAlgorithm::testGaussMapArcsIntersect(const Vector3& a, const Vector3& b, const Vector3& c, const Vector3& d, const Vector3& bCrossA, const Vector3& dCrossC) const { - PROFILE("SATAlgorithm::testGaussMapArcsIntersect", mProfiler); + RP3D_PROFILE("SATAlgorithm::testGaussMapArcsIntersect", mProfiler); const decimal cba = c.dot(bCrossA); const decimal dba = d.dot(bCrossA); diff --git a/src/collision/shapes/CollisionShape.cpp b/src/collision/shapes/CollisionShape.cpp index 0b64190e..976c7a51 100644 --- a/src/collision/shapes/CollisionShape.cpp +++ b/src/collision/shapes/CollisionShape.cpp @@ -25,7 +25,7 @@ // Libraries #include "CollisionShape.h" -#include "engine/Profiler.h" +#include "utils/Profiler.h" #include "body/CollisionBody.h" // We want to use the ReactPhysics3D namespace @@ -48,7 +48,7 @@ CollisionShape::CollisionShape(CollisionShapeName name, CollisionShapeType type) */ void CollisionShape::computeAABB(AABB& aabb, const Transform& transform) const { - PROFILE("CollisionShape::computeAABB()", mProfiler); + RP3D_PROFILE("CollisionShape::computeAABB()", mProfiler); // Get the local bounds in x,y and z direction Vector3 minBounds; diff --git a/src/collision/shapes/CollisionShape.h b/src/collision/shapes/CollisionShape.h index 8d84ab55..3fdf4470 100644 --- a/src/collision/shapes/CollisionShape.h +++ b/src/collision/shapes/CollisionShape.h @@ -35,7 +35,7 @@ #include "AABB.h" #include "collision/RaycastInfo.h" #include "memory/PoolAllocator.h" -#include "engine/Profiler.h" +#include "utils/Profiler.h" /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/collision/shapes/ConcaveMeshShape.cpp b/src/collision/shapes/ConcaveMeshShape.cpp index d2046adc..768f7c2e 100644 --- a/src/collision/shapes/ConcaveMeshShape.cpp +++ b/src/collision/shapes/ConcaveMeshShape.cpp @@ -114,7 +114,7 @@ void ConcaveMeshShape::testAllTriangles(TriangleCallback& callback, const AABB& /// the ray hits many triangles. bool ConcaveMeshShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, MemoryAllocator& allocator) const { - PROFILE("ConcaveMeshShape::raycast()", mProfiler); + RP3D_PROFILE("ConcaveMeshShape::raycast()", mProfiler); // Create the callback object that will compute ray casting against triangles ConcaveMeshRaycastCallback raycastCallback(mDynamicAABBTree, *this, proxyShape, raycastInfo, ray, allocator); diff --git a/src/collision/shapes/ConcaveMeshShape.h b/src/collision/shapes/ConcaveMeshShape.h index 2ecefb94..d35c9d23 100644 --- a/src/collision/shapes/ConcaveMeshShape.h +++ b/src/collision/shapes/ConcaveMeshShape.h @@ -32,7 +32,7 @@ #include "collision/TriangleMesh.h" #include "collision/shapes/TriangleShape.h" #include "containers/List.h" -#include "engine/Profiler.h" +#include "utils/Profiler.h" namespace reactphysics3d { diff --git a/src/collision/shapes/HeightFieldShape.cpp b/src/collision/shapes/HeightFieldShape.cpp index badfb68d..df2019c0 100644 --- a/src/collision/shapes/HeightFieldShape.cpp +++ b/src/collision/shapes/HeightFieldShape.cpp @@ -217,7 +217,7 @@ bool HeightFieldShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxySh // TODO : Implement raycasting without using an AABB for the ray // but using a dynamic AABB tree or octree instead - PROFILE("HeightFieldShape::raycast()", mProfiler); + RP3D_PROFILE("HeightFieldShape::raycast()", mProfiler); TriangleOverlapCallback triangleCallback(ray, proxyShape, raycastInfo, *this, allocator); diff --git a/src/collision/shapes/HeightFieldShape.h b/src/collision/shapes/HeightFieldShape.h index fc587d4c..7b834e2b 100644 --- a/src/collision/shapes/HeightFieldShape.h +++ b/src/collision/shapes/HeightFieldShape.h @@ -29,7 +29,7 @@ // Libraries #include "ConcaveShape.h" #include "collision/shapes/TriangleShape.h" -#include "engine/Profiler.h" +#include "utils/Profiler.h" namespace reactphysics3d { diff --git a/src/collision/shapes/TriangleShape.cpp b/src/collision/shapes/TriangleShape.cpp index 2257c0e6..d3b7d753 100644 --- a/src/collision/shapes/TriangleShape.cpp +++ b/src/collision/shapes/TriangleShape.cpp @@ -27,7 +27,7 @@ #include "TriangleShape.h" #include "collision/ProxyShape.h" #include "mathematics/mathematics_functions.h" -#include "engine/Profiler.h" +#include "utils/Profiler.h" #include "configuration.h" #include @@ -213,7 +213,7 @@ Vector3 TriangleShape::computeSmoothLocalContactNormalForTriangle(const Vector3& /// Real-time Collision Detection by Christer Ericson. bool TriangleShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, MemoryAllocator& allocator) const { - PROFILE("TriangleShape::raycast()", mProfiler); + RP3D_PROFILE("TriangleShape::raycast()", mProfiler); const Vector3 pq = ray.point2 - ray.point1; const Vector3 pa = mPoints[0] - ray.point1; diff --git a/src/constraint/BallAndSocketJoint.cpp b/src/constraint/BallAndSocketJoint.cpp index 272d922e..b1966d93 100644 --- a/src/constraint/BallAndSocketJoint.cpp +++ b/src/constraint/BallAndSocketJoint.cpp @@ -33,8 +33,8 @@ using namespace reactphysics3d; const decimal BallAndSocketJoint::BETA = decimal(0.2); // Constructor -BallAndSocketJoint::BallAndSocketJoint(const BallAndSocketJointInfo& jointInfo) - : Joint(jointInfo), mImpulse(Vector3(0, 0, 0)) { +BallAndSocketJoint::BallAndSocketJoint(uint id, const BallAndSocketJointInfo& jointInfo) + : Joint(id, jointInfo), mImpulse(Vector3(0, 0, 0)) { // Compute the local-space anchor point for each body mLocalAnchorPointBody1 = mBody1->getTransform().getInverse() * jointInfo.anchorPointWorldSpace; diff --git a/src/constraint/BallAndSocketJoint.h b/src/constraint/BallAndSocketJoint.h index c8836a23..ed66320f 100644 --- a/src/constraint/BallAndSocketJoint.h +++ b/src/constraint/BallAndSocketJoint.h @@ -125,7 +125,7 @@ class BallAndSocketJoint : public Joint { // -------------------- Methods -------------------- // /// Constructor - BallAndSocketJoint(const BallAndSocketJointInfo& jointInfo); + BallAndSocketJoint(uint id, const BallAndSocketJointInfo& jointInfo); /// Destructor virtual ~BallAndSocketJoint() override = default; diff --git a/src/constraint/FixedJoint.cpp b/src/constraint/FixedJoint.cpp index 17f9e455..94663c80 100644 --- a/src/constraint/FixedJoint.cpp +++ b/src/constraint/FixedJoint.cpp @@ -33,8 +33,8 @@ using namespace reactphysics3d; const decimal FixedJoint::BETA = decimal(0.2); // Constructor -FixedJoint::FixedJoint(const FixedJointInfo& jointInfo) - : Joint(jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0, 0) { +FixedJoint::FixedJoint(uint id, const FixedJointInfo& jointInfo) + : Joint(id, jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0, 0) { // Compute the local-space anchor point for each body const Transform& transform1 = mBody1->getTransform(); diff --git a/src/constraint/FixedJoint.h b/src/constraint/FixedJoint.h index e08b31cc..45fe1185 100644 --- a/src/constraint/FixedJoint.h +++ b/src/constraint/FixedJoint.h @@ -136,7 +136,7 @@ class FixedJoint : public Joint { // -------------------- Methods -------------------- // /// Constructor - FixedJoint(const FixedJointInfo& jointInfo); + FixedJoint(uint id, const FixedJointInfo& jointInfo); /// Destructor virtual ~FixedJoint() override = default; diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp index 7b400a2a..990e7be1 100644 --- a/src/constraint/HingeJoint.cpp +++ b/src/constraint/HingeJoint.cpp @@ -34,8 +34,8 @@ using namespace reactphysics3d; const decimal HingeJoint::BETA = decimal(0.2); // Constructor -HingeJoint::HingeJoint(const HingeJointInfo& jointInfo) - : Joint(jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0), +HingeJoint::HingeJoint(uint id, const HingeJointInfo& jointInfo) + : Joint(id, jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0), mImpulseLowerLimit(0), mImpulseUpperLimit(0), mImpulseMotor(0), mIsLimitEnabled(jointInfo.isLimitEnabled), mIsMotorEnabled(jointInfo.isMotorEnabled), mLowerLimit(jointInfo.minAngleLimit), mUpperLimit(jointInfo.maxAngleLimit), diff --git a/src/constraint/HingeJoint.h b/src/constraint/HingeJoint.h index c553755d..fbcfeacf 100644 --- a/src/constraint/HingeJoint.h +++ b/src/constraint/HingeJoint.h @@ -287,7 +287,7 @@ class HingeJoint : public Joint { // -------------------- Methods -------------------- // /// Constructor - HingeJoint(const HingeJointInfo& jointInfo); + HingeJoint(uint id, const HingeJointInfo& jointInfo); /// Destructor virtual ~HingeJoint() override = default; diff --git a/src/constraint/Joint.cpp b/src/constraint/Joint.cpp index 2c0695ab..7582c1e0 100644 --- a/src/constraint/Joint.cpp +++ b/src/constraint/Joint.cpp @@ -29,8 +29,8 @@ using namespace reactphysics3d; // Constructor -Joint::Joint(const JointInfo& jointInfo) - :mBody1(jointInfo.body1), mBody2(jointInfo.body2), mType(jointInfo.type), +Joint::Joint(uint id, const JointInfo& jointInfo) + :mId(id), mBody1(jointInfo.body1), mBody2(jointInfo.body2), mType(jointInfo.type), mPositionCorrectionTechnique(jointInfo.positionCorrectionTechnique), mIsCollisionEnabled(jointInfo.isCollisionEnabled), mIsAlreadyInIsland(false) { diff --git a/src/constraint/Joint.h b/src/constraint/Joint.h index ead08a53..10d1680e 100644 --- a/src/constraint/Joint.h +++ b/src/constraint/Joint.h @@ -120,6 +120,9 @@ class Joint { // -------------------- Attributes -------------------- // + /// Id of the joint + uint mId; + /// Pointer to the first body of the joint RigidBody* const mBody1; @@ -144,6 +147,9 @@ class Joint { /// True if the joint has already been added into an island bool mIsAlreadyInIsland; + /// Total number of joints + static uint mNbTotalNbJoints; + // -------------------- Methods -------------------- // /// Return true if the joint has already been added into an island @@ -169,7 +175,7 @@ class Joint { // -------------------- Methods -------------------- // /// Constructor - Joint(const JointInfo& jointInfo); + Joint(uint id, const JointInfo& jointInfo); /// Destructor virtual ~Joint() = default; @@ -195,6 +201,9 @@ class Joint { /// Return true if the collision between the two bodies of the joint is enabled bool isCollisionEnabled() const; + /// Return the id of the joint + uint getId() const; + // -------------------- Friendship -------------------- // friend class DynamicsWorld; @@ -243,6 +252,14 @@ inline bool Joint::isCollisionEnabled() const { return mIsCollisionEnabled; } +// Return the id of the joint +/** + * @return The id of the joint + */ +inline uint Joint::getId() const { + return mId; +} + // Return true if the joint has already been added into an island inline bool Joint::isAlreadyInIsland() const { return mIsAlreadyInIsland; diff --git a/src/constraint/SliderJoint.cpp b/src/constraint/SliderJoint.cpp index 715bdc25..174ddb67 100644 --- a/src/constraint/SliderJoint.cpp +++ b/src/constraint/SliderJoint.cpp @@ -32,8 +32,8 @@ using namespace reactphysics3d; const decimal SliderJoint::BETA = decimal(0.2); // Constructor -SliderJoint::SliderJoint(const SliderJointInfo& jointInfo) - : Joint(jointInfo), mImpulseTranslation(0, 0), mImpulseRotation(0, 0, 0), +SliderJoint::SliderJoint(uint id, const SliderJointInfo& jointInfo) + : Joint(id, jointInfo), mImpulseTranslation(0, 0), mImpulseRotation(0, 0, 0), mImpulseLowerLimit(0), mImpulseUpperLimit(0), mImpulseMotor(0), mIsLimitEnabled(jointInfo.isLimitEnabled), mIsMotorEnabled(jointInfo.isMotorEnabled), mLowerLimit(jointInfo.minTranslationLimit), diff --git a/src/constraint/SliderJoint.h b/src/constraint/SliderJoint.h index e01a9ab4..3fd0035e 100644 --- a/src/constraint/SliderJoint.h +++ b/src/constraint/SliderJoint.h @@ -285,7 +285,7 @@ class SliderJoint : public Joint { // -------------------- Methods -------------------- // /// Constructor - SliderJoint(const SliderJointInfo& jointInfo); + SliderJoint(uint id, const SliderJointInfo& jointInfo); /// Destructor virtual ~SliderJoint() override = default; diff --git a/src/containers/List.h b/src/containers/List.h index 49bd2d21..2af3b76e 100644 --- a/src/containers/List.h +++ b/src/containers/List.h @@ -29,6 +29,7 @@ // Libraries #include "configuration.h" #include "memory/MemoryAllocator.h" +#include #include #include diff --git a/src/containers/Pair.h b/src/containers/Pair.h index 8c34b4ac..89d333b2 100644 --- a/src/containers/Pair.h +++ b/src/containers/Pair.h @@ -86,7 +86,7 @@ class Pair { } -// Hash function for struct VerticesPair +// Hash function for a reactphysics3d Pair namespace std { template struct hash> { diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index b91897e1..7fb223e2 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -26,28 +26,64 @@ // Libraries #include "CollisionWorld.h" #include +#include // Namespaces using namespace reactphysics3d; using namespace std; +// Initialization of static fields +uint CollisionWorld::mNbWorlds = 0; + // Constructor -CollisionWorld::CollisionWorld(const WorldSettings& worldSettings) - : mConfig(worldSettings), mCollisionDetection(this, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mCurrentBodyID(0), - mFreeBodiesIDs(mMemoryManager.getPoolAllocator()), mEventListener(nullptr) { +CollisionWorld::CollisionWorld(const string& name, const WorldSettings& worldSettings) + : mConfig(worldSettings), mCollisionDetection(this, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mCurrentBodyId(0), + mFreeBodiesIds(mMemoryManager.getPoolAllocator()), mEventListener(nullptr), mName(name) { + + // Automatically generate a name for the world + if (mName == "") { + + std::stringstream ss; + ss << "world"; + + if (mNbWorlds > 0) { + ss << mNbWorlds; + } + + mName = ss.str(); + } #ifdef IS_PROFILING_ACTIVE - // Set the profiler - mCollisionDetection.setProfiler(&mProfiler); + // Add a destination file for the profiling data + mProfiler.addFileDestination("rp3d_profiling_" + mName + ".txt", Profiler::Format::Text); + + // Set the profiler + mCollisionDetection.setProfiler(&mProfiler); #endif +#ifdef IS_LOGGING_ACTIVE + + // Add a log destination file + uint logLevel = static_cast(Logger::Level::Info) | static_cast(Logger::Level::Warning) | + static_cast(Logger::Level::Error); + mLogger.addFileDestination("rp3d_log_" + mName + ".html", logLevel, Logger::Format::HTML); + +#endif + + mNbWorlds++; + + RP3D_LOG(mLogger, Logger::Level::Info, Logger::Category::World, + "Collision World: Collision world " + mName + " has been created"); } // Destructor CollisionWorld::~CollisionWorld() { + RP3D_LOG(mLogger, Logger::Level::Info, Logger::Category::World, + "Collision World: Collision world " + mName + " has been destroyed"); + // Destroy all the collision bodies that have not been removed for (int i=mBodies.size() - 1 ; i >= 0; i--) { destroyCollisionBody(mBodies[i]); @@ -64,7 +100,7 @@ CollisionWorld::~CollisionWorld() { CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform) { // Get the next available body ID - bodyindex bodyID = computeNextAvailableBodyID(); + bodyindex bodyID = computeNextAvailableBodyId(); // Largest index cannot be used (it is used for invalid index) assert(bodyID < std::numeric_limits::max()); @@ -85,6 +121,9 @@ CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform) { #endif + RP3D_LOG(mLogger, Logger::Level::Info, Logger::Category::Body, + "Collision Body " + std::to_string(bodyID) + ": New collision body created"); + // Return the pointer to the rigid body return collisionBody; } @@ -95,11 +134,14 @@ CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform) { */ void CollisionWorld::destroyCollisionBody(CollisionBody* collisionBody) { + RP3D_LOG(mLogger, Logger::Level::Info, Logger::Category::Body, + "Collision Body " + std::to_string(collisionBody->getId()) + ": collision body destroyed"); + // Remove all the collision shapes of the body collisionBody->removeAllCollisionShapes(); // Add the body ID to the list of free IDs - mFreeBodiesIDs.add(collisionBody->getID()); + mFreeBodiesIds.add(collisionBody->getId()); // Call the destructor of the collision body collisionBody->~CollisionBody(); @@ -112,17 +154,17 @@ void CollisionWorld::destroyCollisionBody(CollisionBody* collisionBody) { } // Return the next available body ID -bodyindex CollisionWorld::computeNextAvailableBodyID() { +bodyindex CollisionWorld::computeNextAvailableBodyId() { // Compute the body ID bodyindex bodyID; - if (mFreeBodiesIDs.size() != 0) { - bodyID = mFreeBodiesIDs[mFreeBodiesIDs.size() - 1]; - mFreeBodiesIDs.removeAt(mFreeBodiesIDs.size() - 1); + if (mFreeBodiesIds.size() != 0) { + bodyID = mFreeBodiesIds[mFreeBodiesIds.size() - 1]; + mFreeBodiesIds.removeAt(mFreeBodiesIds.size() - 1); } else { - bodyID = mCurrentBodyID; - mCurrentBodyID++; + bodyID = mCurrentBodyId; + mCurrentBodyId++; } return bodyID; diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index b3664ea1..f85d2fc6 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -30,7 +30,8 @@ #include #include "mathematics/mathematics.h" #include "containers/List.h" -#include "Profiler.h" +#include "utils/Profiler.h" +#include "utils/Logger.h" #include "body/CollisionBody.h" #include "collision/RaycastInfo.h" #include "OverlappingPair.h" @@ -71,25 +72,37 @@ class CollisionWorld { /// All the bodies (rigid and soft) of the world List mBodies; - /// Current body ID - bodyindex mCurrentBodyID; + /// Current body id + bodyindex mCurrentBodyId; - /// List of free ID for rigid bodies - List mFreeBodiesIDs; + /// List of free ids for rigid bodies + List mFreeBodiesIds; /// Pointer to an event listener object EventListener* mEventListener; + /// Name of the collision world + std::string mName; + #ifdef IS_PROFILING_ACTIVE /// Real-time hierarchical profiler Profiler mProfiler; #endif +#ifdef IS_LOGGING_ACTIVE + + /// Logger + Logger mLogger; +#endif + + /// Total number of worlds + static uint mNbWorlds; + // -------------------- Methods -------------------- // - /// Return the next available body ID - bodyindex computeNextAvailableBodyID(); + /// Return the next available body id + bodyindex computeNextAvailableBodyId(); /// Reset all the contact manifolds linked list of each body void resetContactManifoldListsOfBodies(); @@ -99,7 +112,7 @@ class CollisionWorld { // -------------------- Methods -------------------- // /// Constructor - CollisionWorld(const WorldSettings& worldSettings = WorldSettings()); + CollisionWorld(const std::string& name = "", const WorldSettings& worldSettings = WorldSettings()); /// Destructor virtual ~CollisionWorld(); @@ -147,13 +160,24 @@ class CollisionWorld { #ifdef IS_PROFILING_ACTIVE - /// Set the name of the profiler - void setProfilerName(std::string name); + /// Return a reference to the profiler + Profiler& getProfiler(); + +#endif + +#ifdef IS_LOGGING_ACTIVE + + /// Return a reference to the logger + Logger& getLogger(); + #endif /// Return the current world-space AABB of given proxy shape AABB getWorldAABB(const ProxyShape* proxyShape) const; + /// Return the name of the world + const std::string& getName() const; + // -------------------- Friendship -------------------- // friend class CollisionDetection; @@ -224,11 +248,25 @@ inline void CollisionWorld::testOverlap(CollisionBody* body, OverlapCallback* ov mCollisionDetection.testOverlap(body, overlapCallback, categoryMaskBits); } +// Return the name of the world +inline const std::string& CollisionWorld::getName() const { + return mName; +} + #ifdef IS_PROFILING_ACTIVE -// Set the name of the profiler -inline void CollisionWorld::setProfilerName(std::string name) { - mProfiler.setName(name); +// Return a reference to the profiler +inline Profiler& CollisionWorld::getProfiler() { + return mProfiler; +} + +#endif + +#ifdef IS_LOGGING_ACTIVE + +// Return a reference to the logger +inline Logger& CollisionWorld::getLogger() { + return mLogger; } #endif diff --git a/src/engine/ConstraintSolver.cpp b/src/engine/ConstraintSolver.cpp index 5345cbaf..f3b94396 100644 --- a/src/engine/ConstraintSolver.cpp +++ b/src/engine/ConstraintSolver.cpp @@ -25,7 +25,7 @@ // Libraries #include "ConstraintSolver.h" -#include "Profiler.h" +#include "utils/Profiler.h" using namespace reactphysics3d; @@ -43,7 +43,7 @@ ConstraintSolver::ConstraintSolver() : mIsWarmStartingActive(true) { // Initialize the constraint solver for a given island void ConstraintSolver::initializeForIsland(decimal dt, Island* island) { - PROFILE("ConstraintSolver::initializeForIsland()", mProfiler); + RP3D_PROFILE("ConstraintSolver::initializeForIsland()", mProfiler); assert(island != nullptr); assert(island->getNbBodies() > 0); @@ -73,7 +73,7 @@ void ConstraintSolver::initializeForIsland(decimal dt, Island* island) { // Solve the velocity constraints void ConstraintSolver::solveVelocityConstraints(Island* island) { - PROFILE("ConstraintSolver::solveVelocityConstraints()", mProfiler); + RP3D_PROFILE("ConstraintSolver::solveVelocityConstraints()", mProfiler); assert(island != nullptr); assert(island->getNbJoints() > 0); @@ -90,7 +90,7 @@ void ConstraintSolver::solveVelocityConstraints(Island* island) { // Solve the position constraints void ConstraintSolver::solvePositionConstraints(Island* island) { - PROFILE("ConstraintSolver::solvePositionConstraints()", mProfiler); + RP3D_PROFILE("ConstraintSolver::solvePositionConstraints()", mProfiler); assert(island != nullptr); assert(island->getNbJoints() > 0); diff --git a/src/engine/ContactSolver.cpp b/src/engine/ContactSolver.cpp index c6ef746e..d7539ca9 100644 --- a/src/engine/ContactSolver.cpp +++ b/src/engine/ContactSolver.cpp @@ -27,7 +27,7 @@ #include "ContactSolver.h" #include "DynamicsWorld.h" #include "body/RigidBody.h" -#include "Profiler.h" +#include "utils/Profiler.h" #include using namespace reactphysics3d; @@ -50,7 +50,7 @@ ContactSolver::ContactSolver(MemoryManager& memoryManager, const WorldSettings& // Initialize the contact constraints void ContactSolver::init(Island** islands, uint nbIslands, decimal timeStep) { - PROFILE("ContactSolver::init()", mProfiler); + RP3D_PROFILE("ContactSolver::init()", mProfiler); mTimeStep = timeStep; @@ -98,7 +98,7 @@ void ContactSolver::init(Island** islands, uint nbIslands, decimal timeStep) { // Initialize the constraint solver for a given island void ContactSolver::initializeForIsland(Island* island) { - PROFILE("ContactSolver::initializeForIsland()", mProfiler); + RP3D_PROFILE("ContactSolver::initializeForIsland()", mProfiler); assert(island != nullptr); assert(island->getNbBodies() > 0); @@ -326,7 +326,7 @@ void ContactSolver::initializeForIsland(Island* island) { /// the solution of the linear system void ContactSolver::warmStart() { - PROFILE("ContactSolver::warmStart()", mProfiler); + RP3D_PROFILE("ContactSolver::warmStart()", mProfiler); uint contactPointIndex = 0; @@ -479,7 +479,7 @@ void ContactSolver::warmStart() { // Solve the contacts void ContactSolver::solve() { - PROFILE("ContactSolver::solve()", mProfiler); + RP3D_PROFILE("ContactSolver::solve()", mProfiler); decimal deltaLambda; decimal lambdaTemp; @@ -758,7 +758,7 @@ void ContactSolver::solve() { // warm start the solver at the next iteration void ContactSolver::storeImpulses() { - PROFILE("ContactSolver::storeImpulses()", mProfiler); + RP3D_PROFILE("ContactSolver::storeImpulses()", mProfiler); uint contactPointIndex = 0; @@ -786,7 +786,7 @@ void ContactSolver::storeImpulses() { void ContactSolver::computeFrictionVectors(const Vector3& deltaVelocity, ContactManifoldSolver& contact) const { - PROFILE("ContactSolver::computeFrictionVectors()", mProfiler); + RP3D_PROFILE("ContactSolver::computeFrictionVectors()", mProfiler); assert(contact.normal.length() > decimal(0.0)); diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 3199b775..f8ac6033 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -39,8 +39,8 @@ using namespace std; /** * @param gravity Gravity vector in the world (in meters per second squared) */ -DynamicsWorld::DynamicsWorld(const Vector3 &gravity, const WorldSettings& worldSettings) - : CollisionWorld(worldSettings), +DynamicsWorld::DynamicsWorld(const Vector3& gravity, const string& name, const WorldSettings& worldSettings) + : CollisionWorld(name, worldSettings), mContactSolver(mMemoryManager, mConfig), mNbVelocitySolverIterations(mConfig.defaultVelocitySolverNbIterations), mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations), @@ -52,7 +52,8 @@ DynamicsWorld::DynamicsWorld(const Vector3 &gravity, const WorldSettings& worldS mConstrainedOrientations(nullptr), mNbIslands(0), mIslands(nullptr), mSleepLinearVelocity(mConfig.defaultSleepLinearVelocity), mSleepAngularVelocity(mConfig.defaultSleepAngularVelocity), - mTimeBeforeSleep(mConfig.defaultTimeBeforeSleep) { + mTimeBeforeSleep(mConfig.defaultTimeBeforeSleep), + mFreeJointsIDs(mMemoryManager.getPoolAllocator()), mCurrentJointId(0) { #ifdef IS_PROFILING_ACTIVE @@ -62,6 +63,9 @@ DynamicsWorld::DynamicsWorld(const Vector3 &gravity, const WorldSettings& worldS #endif + RP3D_LOG(mLogger, Logger::Level::Info, Logger::Category::World, + "Dynamics world " + mName + " has been created"); + } // Destructor @@ -82,13 +86,12 @@ DynamicsWorld::~DynamicsWorld() { #ifdef IS_PROFILING_ACTIVE - // Print the profiling report - ofstream myfile; - myfile.open(mProfiler.getName() + ".txt"); - mProfiler.printReport(myfile); - myfile.close(); + // Print the profiling report into the destinations + mProfiler.printReport(); #endif + RP3D_LOG(mLogger, Logger::Level::Info, Logger::Category::World, + "Dynamics world " + mName + " has been destroyed"); } // Update the physics simulation @@ -102,7 +105,7 @@ void DynamicsWorld::update(decimal timeStep) { mProfiler.incrementFrameCounter(); #endif - PROFILE("DynamicsWorld::update()", &mProfiler); + RP3D_PROFILE("DynamicsWorld::update()", &mProfiler); mTimeStep = timeStep; @@ -150,7 +153,7 @@ void DynamicsWorld::update(decimal timeStep) { /// the sympletic Euler time stepping scheme. void DynamicsWorld::integrateRigidBodiesPositions() { - PROFILE("DynamicsWorld::integrateRigidBodiesPositions()", &mProfiler); + RP3D_PROFILE("DynamicsWorld::integrateRigidBodiesPositions()", &mProfiler); // For each island of the world for (uint i=0; i < mNbIslands; i++) { @@ -189,7 +192,7 @@ void DynamicsWorld::integrateRigidBodiesPositions() { // Update the postion/orientation of the bodies void DynamicsWorld::updateBodiesState() { - PROFILE("DynamicsWorld::updateBodiesState()", &mProfiler); + RP3D_PROFILE("DynamicsWorld::updateBodiesState()", &mProfiler); // For each island of the world for (uint islandIndex = 0; islandIndex < mNbIslands; islandIndex++) { @@ -226,7 +229,7 @@ void DynamicsWorld::updateBodiesState() { // Initialize the bodies velocities arrays for the next simulation step. void DynamicsWorld::initVelocityArrays() { - PROFILE("DynamicsWorld::initVelocityArrays()", &mProfiler); + RP3D_PROFILE("DynamicsWorld::initVelocityArrays()", &mProfiler); // Allocate memory for the bodies velocity arrays uint nbBodies = mRigidBodies.size(); @@ -268,7 +271,7 @@ void DynamicsWorld::initVelocityArrays() { /// contact solver. void DynamicsWorld::integrateRigidBodiesVelocities() { - PROFILE("DynamicsWorld::integrateRigidBodiesVelocities()", &mProfiler); + RP3D_PROFILE("DynamicsWorld::integrateRigidBodiesVelocities()", &mProfiler); // Initialize the bodies velocity arrays initVelocityArrays(); @@ -330,7 +333,7 @@ void DynamicsWorld::integrateRigidBodiesVelocities() { // Solve the contacts and constraints void DynamicsWorld::solveContactsAndConstraints() { - PROFILE("DynamicsWorld::solveContactsAndConstraints()", &mProfiler); + RP3D_PROFILE("DynamicsWorld::solveContactsAndConstraints()", &mProfiler); // Set the velocities arrays mContactSolver.setSplitVelocitiesArrays(mSplitLinearVelocities, mSplitAngularVelocities); @@ -380,7 +383,7 @@ void DynamicsWorld::solveContactsAndConstraints() { // Solve the position error correction of the constraints void DynamicsWorld::solvePositionCorrection() { - PROFILE("DynamicsWorld::solvePositionCorrection()", &mProfiler); + RP3D_PROFILE("DynamicsWorld::solvePositionCorrection()", &mProfiler); // Do not continue if there is no constraints if (mJoints.size() == 0) return; @@ -407,7 +410,7 @@ void DynamicsWorld::solvePositionCorrection() { RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) { // Compute the body ID - bodyindex bodyID = computeNextAvailableBodyID(); + bodyindex bodyID = computeNextAvailableBodyId(); // Largest index cannot be used (it is used for invalid index) assert(bodyID < std::numeric_limits::max()); @@ -427,6 +430,9 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) { #endif + RP3D_LOG(mLogger, Logger::Level::Info, Logger::Category::Body, + "Rigid Body " + std::to_string(bodyID) + ": New collision body created"); + // Return the pointer to the rigid body return rigidBody; } @@ -437,11 +443,14 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) { */ void DynamicsWorld::destroyRigidBody(RigidBody* rigidBody) { + RP3D_LOG(mLogger, Logger::Level::Info, Logger::Category::Body, + "Rigid Body " + std::to_string(rigidBody->getId()) + ": rigid body destroyed"); + // Remove all the collision shapes of the body rigidBody->removeAllCollisionShapes(); // Add the body ID to the list of free IDs - mFreeBodiesIDs.add(rigidBody->getID()); + mFreeBodiesIds.add(rigidBody->getId()); // Destroy all the joints in which the rigid body to be destroyed is involved JointListElement* element; @@ -472,6 +481,9 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { Joint* newJoint = nullptr; + // Get the next available joint ID + uint jointId = computeNextAvailableJointId(); + // Allocate memory to create the new joint switch(jointInfo.type) { @@ -482,7 +494,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { sizeof(BallAndSocketJoint)); const BallAndSocketJointInfo& info = static_cast( jointInfo); - newJoint = new (allocatedMemory) BallAndSocketJoint(info); + newJoint = new (allocatedMemory) BallAndSocketJoint(jointId, info); break; } @@ -492,7 +504,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { void* allocatedMemory = mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(SliderJoint)); const SliderJointInfo& info = static_cast(jointInfo); - newJoint = new (allocatedMemory) SliderJoint(info); + newJoint = new (allocatedMemory) SliderJoint(jointId, info); break; } @@ -502,7 +514,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { void* allocatedMemory = mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(HingeJoint)); const HingeJointInfo& info = static_cast(jointInfo); - newJoint = new (allocatedMemory) HingeJoint(info); + newJoint = new (allocatedMemory) HingeJoint(jointId, info); break; } @@ -512,7 +524,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { void* allocatedMemory = mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(FixedJoint)); const FixedJointInfo& info = static_cast(jointInfo); - newJoint = new (allocatedMemory) FixedJoint(info); + newJoint = new (allocatedMemory) FixedJoint(jointId, info); break; } @@ -536,6 +548,9 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { // Add the joint into the joint list of the bodies involved in the joint addJointToBody(newJoint); + RP3D_LOG(mLogger, Logger::Level::Info, Logger::Category::Joint, + "Joint " + std::to_string(newJoint->getId()) + ": New joint created"); + // Return the pointer to the created joint return newJoint; } @@ -548,6 +563,9 @@ void DynamicsWorld::destroyJoint(Joint* joint) { assert(joint != nullptr); + RP3D_LOG(mLogger, Logger::Level::Info, Logger::Category::Joint, + "Joint " + std::to_string(joint->getId()) + ": joint destroyed"); + // If the collision between the two bodies of the constraint was disabled if (!joint->isCollisionEnabled()) { @@ -568,9 +586,15 @@ void DynamicsWorld::destroyJoint(Joint* joint) { size_t nbBytes = joint->getSizeInBytes(); + // Add the joint ID to the list of free IDs + mFreeJointsIDs.add(joint->getId()); + // Call the destructor of the joint joint->~Joint(); + // Add the joint ID to the list of free IDs + mFreeJointsIDs.add(joint->getId()); + // Release the allocated memory mMemoryManager.release(MemoryManager::AllocationType::Pool, joint, nbBytes); } @@ -595,6 +619,23 @@ void DynamicsWorld::addJointToBody(Joint* joint) { joint->mBody2->mJointsList = jointListElement2; } +// Return the next available joint Id +uint DynamicsWorld::computeNextAvailableJointId() { + + // Compute the joint ID + uint jointId; + if (mFreeJointsIDs.size() != 0) { + jointId = mFreeJointsIDs[mFreeJointsIDs.size() - 1]; + mFreeJointsIDs.removeAt(mFreeJointsIDs.size() - 1); + } + else { + jointId = mCurrentJointId; + mCurrentJointId++; + } + + return jointId; +} + // Compute the islands of awake bodies. /// An island is an isolated group of rigid bodies that have constraints (joints or contacts) /// between each other. This method computes the islands at each time step as follows: For each @@ -604,7 +645,7 @@ void DynamicsWorld::addJointToBody(Joint* joint) { /// it). Then, we create an island with this group of connected bodies. void DynamicsWorld::computeIslands() { - PROFILE("DynamicsWorld::computeIslands()", &mProfiler); + RP3D_PROFILE("DynamicsWorld::computeIslands()", &mProfiler); uint nbBodies = mRigidBodies.size(); @@ -693,7 +734,7 @@ void DynamicsWorld::computeIslands() { // Get the other body of the contact manifold RigidBody* body1 = static_cast(contactManifold->getBody1()); RigidBody* body2 = static_cast(contactManifold->getBody2()); - RigidBody* otherBody = (body1->getID() == bodyToVisit->getID()) ? body2 : body1; + RigidBody* otherBody = (body1->getId() == bodyToVisit->getId()) ? body2 : body1; // Check if the other body has already been added to the island if (otherBody->mIsAlreadyInIsland) continue; @@ -721,7 +762,7 @@ void DynamicsWorld::computeIslands() { // Get the other body of the contact manifold RigidBody* body1 = static_cast(joint->getBody1()); RigidBody* body2 = static_cast(joint->getBody2()); - RigidBody* otherBody = (body1->getID() == bodyToVisit->getID()) ? body2 : body1; + RigidBody* otherBody = (body1->getId() == bodyToVisit->getId()) ? body2 : body1; // Check if the other body has already been added to the island if (otherBody->mIsAlreadyInIsland) continue; @@ -751,7 +792,7 @@ void DynamicsWorld::computeIslands() { /// time, we put all the bodies of the island to sleep. void DynamicsWorld::updateSleepingBodies() { - PROFILE("DynamicsWorld::updateSleepingBodies()", &mProfiler); + RP3D_PROFILE("DynamicsWorld::updateSleepingBodies()", &mProfiler); const decimal sleepLinearVelocitySquare = mSleepLinearVelocity * mSleepLinearVelocity; const decimal sleepAngularVelocitySquare = mSleepAngularVelocity * mSleepAngularVelocity; @@ -820,6 +861,9 @@ void DynamicsWorld::enableSleeping(bool isSleepingEnabled) { (*it)->setIsSleeping(false); } } + + RP3D_LOG(mLogger, Logger::Level::Info, Logger::Category::World, + "Dynamics World: isSleepingEnabled=" + (isSleepingEnabled ? std::string("true") : std::string("false")) ); } /// Return the list of all contacts of the world diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h index e71c83e4..f8016fdc 100644 --- a/src/engine/DynamicsWorld.h +++ b/src/engine/DynamicsWorld.h @@ -116,6 +116,12 @@ class DynamicsWorld : public CollisionWorld { /// becomes smaller than the sleep velocity. decimal mTimeBeforeSleep; + /// List of free ID for joints + List mFreeJointsIDs; + + /// Current joint id + uint mCurrentJointId; + // -------------------- Methods -------------------- // /// Integrate the positions and orientations of rigid bodies. @@ -148,12 +154,16 @@ class DynamicsWorld : public CollisionWorld { /// Add the joint to the list of joints of the two bodies involved in the joint void addJointToBody(Joint* joint); + /// Return the next available joint id + uint computeNextAvailableJointId(); + public : // -------------------- Methods -------------------- // /// Constructor - DynamicsWorld(const Vector3& mGravity, const WorldSettings& worldSettings = WorldSettings()); + DynamicsWorld(const Vector3& mGravity, const std::string& name = "", + const WorldSettings& worldSettings = WorldSettings()); /// Destructor virtual ~DynamicsWorld() override; @@ -272,6 +282,9 @@ inline uint DynamicsWorld::getNbIterationsVelocitySolver() const { */ inline void DynamicsWorld::setNbIterationsVelocitySolver(uint nbIterations) { mNbVelocitySolverIterations = nbIterations; + + RP3D_LOG(mLogger, Logger::Level::Info, Logger::Category::World, + "Dynamics World: Set nb iterations velocity solver to " + std::to_string(nbIterations)); } // Get the number of iterations for the position constraint solver @@ -285,6 +298,9 @@ inline uint DynamicsWorld::getNbIterationsPositionSolver() const { */ inline void DynamicsWorld::setNbIterationsPositionSolver(uint nbIterations) { mNbPositionSolverIterations = nbIterations; + + RP3D_LOG(mLogger, Logger::Level::Info, Logger::Category::World, + "Dynamics World: Set nb iterations position solver to " + std::to_string(nbIterations)); } // Set the position correction technique used for contacts @@ -329,6 +345,9 @@ inline Vector3 DynamicsWorld::getGravity() const { */ inline void DynamicsWorld::setGravity(Vector3& gravity) { mGravity = gravity; + + RP3D_LOG(mLogger, Logger::Level::Info, Logger::Category::World, + "Dynamics World: Set gravity vector to " + gravity.to_string()); } // Return if the gravity is enaled @@ -346,6 +365,9 @@ inline bool DynamicsWorld::isGravityEnabled() const { */ inline void DynamicsWorld::setIsGratityEnabled(bool isGravityEnabled) { mIsGravityEnabled = isGravityEnabled; + + RP3D_LOG(mLogger, Logger::Level::Info, Logger::Category::World, + "Dynamics World: isGravityEnabled= " + (isGravityEnabled ? std::string("true") : std::string("false"))); } // Return the number of rigid bodies in the world @@ -390,6 +412,9 @@ inline decimal DynamicsWorld::getSleepLinearVelocity() const { inline void DynamicsWorld::setSleepLinearVelocity(decimal sleepLinearVelocity) { assert(sleepLinearVelocity >= decimal(0.0)); mSleepLinearVelocity = sleepLinearVelocity; + + RP3D_LOG(mLogger, Logger::Level::Info, Logger::Category::World, + "Dynamics World: sleepLinearVelocity= " + std::to_string(sleepLinearVelocity)); } // Return the current sleep angular velocity @@ -410,6 +435,9 @@ inline decimal DynamicsWorld::getSleepAngularVelocity() const { inline void DynamicsWorld::setSleepAngularVelocity(decimal sleepAngularVelocity) { assert(sleepAngularVelocity >= decimal(0.0)); mSleepAngularVelocity = sleepAngularVelocity; + + RP3D_LOG(mLogger, Logger::Level::Info, Logger::Category::World, + "Dynamics World: sleepAngularVelocity= " + std::to_string(sleepAngularVelocity)); } // Return the time a body is required to stay still before sleeping @@ -428,6 +456,9 @@ inline decimal DynamicsWorld::getTimeBeforeSleep() const { inline void DynamicsWorld::setTimeBeforeSleep(decimal timeBeforeSleep) { assert(timeBeforeSleep >= decimal(0.0)); mTimeBeforeSleep = timeBeforeSleep; + + RP3D_LOG(mLogger, Logger::Level::Info, Logger::Category::World, + "Dynamics World: timeBeforeSleep= " + std::to_string(timeBeforeSleep)); } // Set an event listener object to receive events callbacks. diff --git a/src/engine/OverlappingPair.h b/src/engine/OverlappingPair.h index 4b98c9be..3fa083a1 100644 --- a/src/engine/OverlappingPair.h +++ b/src/engine/OverlappingPair.h @@ -263,9 +263,9 @@ inline bodyindexpair OverlappingPair::computeBodiesIndexPair(CollisionBody* body CollisionBody* body2) { // Construct the pair of body index - bodyindexpair indexPair = body1->getID() < body2->getID() ? - bodyindexpair(body1->getID(), body2->getID()) : - bodyindexpair(body2->getID(), body1->getID()); + bodyindexpair indexPair = body1->getId() < body2->getId() ? + bodyindexpair(body1->getId(), body2->getId()) : + bodyindexpair(body2->getId(), body1->getId()); assert(indexPair.first != indexPair.second); return indexPair; } diff --git a/src/mathematics/Matrix2x2.h b/src/mathematics/Matrix2x2.h index 8315eb99..0aeb3f5c 100644 --- a/src/mathematics/Matrix2x2.h +++ b/src/mathematics/Matrix2x2.h @@ -28,6 +28,7 @@ // Libraries #include +#include #include "Vector2.h" /// ReactPhysics3D namespace @@ -145,6 +146,9 @@ class Matrix2x2 { /// Overloaded operator to read/write element of the matrix. Vector2& operator[](int row); + + /// Return the string representation + std::string to_string() const; }; // Constructor of the class Matrix2x2 @@ -340,6 +344,12 @@ inline Vector2& Matrix2x2::operator[](int row) { return mRows[row]; } +// Get the string representation +inline std::string Matrix2x2::to_string() const { + return "Matrix2x2(" + std::to_string(mRows[0][0]) + "," + std::to_string(mRows[0][1]) + "," + + std::to_string(mRows[1][0]) + "," + std::to_string(mRows[1][1]) + ")"; +} + } #endif diff --git a/src/mathematics/Matrix3x3.h b/src/mathematics/Matrix3x3.h index 6897a2cf..fe2b053a 100644 --- a/src/mathematics/Matrix3x3.h +++ b/src/mathematics/Matrix3x3.h @@ -29,6 +29,7 @@ // Libraries #include +#include #include "Vector3.h" /// ReactPhysics3D namespace @@ -153,6 +154,9 @@ class Matrix3x3 { /// Overloaded operator to read/write element of the matrix. Vector3& operator[](int row); + + /// Return the string representation + std::string to_string() const; }; // Constructor of the class Matrix3x3 @@ -392,6 +396,13 @@ inline Vector3& Matrix3x3::operator[](int row) { return mRows[row]; } +// Get the string representation +inline std::string Matrix3x3::to_string() const { + return "Matrix3x3(" + std::to_string(mRows[0][0]) + "," + std::to_string(mRows[0][1]) + "," + std::to_string(mRows[0][2]) + "," + + std::to_string(mRows[1][0]) + "," + std::to_string(mRows[1][1]) + "," + std::to_string(mRows[1][2]) + "," + + std::to_string(mRows[2][0]) + "," + std::to_string(mRows[2][1]) + "," + std::to_string(mRows[2][2]) + ")"; +} + } #endif diff --git a/src/mathematics/Quaternion.h b/src/mathematics/Quaternion.h index dd0726dc..70f5a729 100644 --- a/src/mathematics/Quaternion.h +++ b/src/mathematics/Quaternion.h @@ -163,6 +163,9 @@ struct Quaternion { /// Overloaded operator for equality condition bool operator==(const Quaternion& quaternion) const; + /// Return the string representation + std::string to_string() const; + private: /// Initialize the quaternion using Euler angles @@ -379,6 +382,12 @@ inline bool Quaternion::operator==(const Quaternion& quaternion) const { z == quaternion.z && w == quaternion.w); } +// Get the string representation +inline std::string Quaternion::to_string() const { + return "Quaternion(" + std::to_string(x) + "," + std::to_string(y) + "," + std::to_string(z) + "," + + std::to_string(w) + ")"; +} + } #endif diff --git a/src/mathematics/Transform.h b/src/mathematics/Transform.h index aeaf4234..91dd4cb1 100644 --- a/src/mathematics/Transform.h +++ b/src/mathematics/Transform.h @@ -116,6 +116,9 @@ class Transform { /// Assignment operator Transform& operator=(const Transform& transform); + + /// Return the string representation + std::string to_string() const; }; // Constructor @@ -268,6 +271,11 @@ inline Transform& Transform::operator=(const Transform& transform) { return *this; } +// Get the string representation +inline std::string Transform::to_string() const { + return "Transform(" + mPosition.to_string() + "," + mOrientation.to_string() + ")"; +} + } #endif diff --git a/src/mathematics/Vector2.h b/src/mathematics/Vector2.h index bc5f8872..9f66ef4b 100644 --- a/src/mathematics/Vector2.h +++ b/src/mathematics/Vector2.h @@ -29,6 +29,7 @@ // Libraries #include #include +#include #include "mathematics_functions.h" #include "decimal.h" @@ -135,6 +136,9 @@ struct Vector2 { /// Overloaded less than operator for ordering to be used inside std::set for instance bool operator<(const Vector2& vector) const; + /// Return the string representation + std::string to_string() const; + /// Return a vector taking the minimum components of two vectors static Vector2 min(const Vector2& vector1, const Vector2& vector2); @@ -352,6 +356,11 @@ inline Vector2 Vector2::max(const Vector2& vector1, const Vector2& vector2) { std::max(vector1.y, vector2.y)); } +// Get the string representation +inline std::string Vector2::to_string() const { + return "Vector2(" + std::to_string(x) + "," + std::to_string(y) + ")"; +} + // Return the zero vector inline Vector2 Vector2::zero() { return Vector2(0, 0); diff --git a/src/mathematics/Vector3.h b/src/mathematics/Vector3.h index 95255fdb..27f5bcf6 100644 --- a/src/mathematics/Vector3.h +++ b/src/mathematics/Vector3.h @@ -29,6 +29,7 @@ // Libraries #include #include +#include #include "mathematics_functions.h" #include "decimal.h" @@ -147,6 +148,9 @@ struct Vector3 { /// Overloaded less than operator for ordering to be used inside std::set for instance bool operator<(const Vector3& vector) const; + /// Get the string representation + std::string to_string() const; + /// Return a vector taking the minimum components of two vectors static Vector3 min(const Vector3& vector1, const Vector3& vector2); @@ -391,6 +395,11 @@ inline decimal Vector3::getMaxValue() const { return std::max(std::max(x, y), z); } +// Get the string representation +inline std::string Vector3::to_string() const { + return "Vector3(" + std::to_string(x) + "," + std::to_string(y) + "," + std::to_string(z) + ")"; +} + // Return the zero vector inline Vector3 Vector3::zero() { return Vector3(0, 0, 0); diff --git a/src/utils/Logger.cpp b/src/utils/Logger.cpp new file mode 100644 index 00000000..89634598 --- /dev/null +++ b/src/utils/Logger.cpp @@ -0,0 +1,102 @@ +/******************************************************************************** +* 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. * +* * +********************************************************************************/ + +#ifdef IS_LOGGING_ACTIVE + +// Libraries +#include "Logger.h" +#include "memory/MemoryManager.h" + +using namespace reactphysics3d; + +// Constructor +Logger::Logger() + : mDestinations(MemoryManager::getBaseAllocator()), mFormatters(MemoryManager::getBaseAllocator()) +{ + + // Create the log formatters + mFormatters.add(Pair(Format::Text, new TextFormatter())); + mFormatters.add(Pair(Format::HTML, new HtmlFormatter())); +} + +// Destructor +Logger::~Logger() { + + removeAllDestinations(); + + // Remove all the loggers + for (auto it = mFormatters.begin(); it != mFormatters.end(); ++it) { + + delete it->second; + } +} + +// Return the corresponding formatter +Logger::Formatter* Logger::getFormatter(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 Logger::addFileDestination(const std::string& filePath, uint logLevelFlag, Format format) { + + FileDestination* destination = new FileDestination(filePath, logLevelFlag, getFormatter(format)); + mDestinations.add(destination); +} + +/// Add a stream destination to the logger +void Logger::addStreamDestination(std::ostream& outputStream, uint logLevelFlag, Format format) { + + StreamDestination* destination = new StreamDestination(outputStream, logLevelFlag, getFormatter(format)); + mDestinations.add(destination); +} + +// Remove all logs destination previously set +void Logger::removeAllDestinations() { + + // Delete all the destinations + for (uint i=0; iwrite(message, level, category); + } +} + +#endif diff --git a/src/utils/Logger.h b/src/utils/Logger.h new file mode 100644 index 00000000..9c6421db --- /dev/null +++ b/src/utils/Logger.h @@ -0,0 +1,332 @@ +/******************************************************************************** +* 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 REACTPHYSICS3D_LOGGER_H +#define REACTPHYSICS3D_LOGGER_H + +#ifdef IS_LOGGING_ACTIVE + +// Libraries +#include "containers/List.h" +#include "containers/Map.h" +#include +#include +#include +#include + +/// ReactPhysics3D namespace +namespace reactphysics3d { + +// Class Logger +/** + * This class is used to log information, warnings or errors during the execution of the + * library code for easier debugging. + */ +class Logger { + + public: + + /// Log verbosity levels + enum class Level {Error = 1, Warning = 2, Info = 4}; + + /// Log categories + enum class Category {World, Body, Joint}; + + /// Log verbosity level + enum class Format {Text, HTML}; + + /// Log formatter + class Formatter { + + public: + + /// Constructor + Formatter() { + + } + + /// Destructor + virtual ~Formatter() { + + } + + /// Return the header to write at the beginning of the stream + virtual std::string getHeader() const { + return ""; + } + + /// Return the tail to write at the end of the stream + virtual std::string getTail() const { + return ""; + } + + /// Format a log message + virtual std::string format(const std::string& message, Level level, Category category) = 0; + }; + + class TextFormatter : public Formatter { + + public: + + /// Constructor + TextFormatter() { + + } + + /// Destructor + virtual ~TextFormatter() { + + } + + /// Format a log message + virtual std::string format(const std::string& message, Level level, + Category category) override { + return message; + } + }; + + class HtmlFormatter : public Formatter { + + private: + + /// Return the header to write at the beginning of the stream + virtual std::string getHeader() const override { + + std::stringstream ss; + + ss << "" << std::endl; + ss << "" << std::endl; + ss << "" << std::endl; + ss << "ReactPhysics3D Logs" << std::endl; + ss << "" << std::endl; + ss << "" << std::endl; + + return ss.str(); + } + + /// Return the tail to write at the end of the stream + virtual std::string getTail() const override { + + std::stringstream ss; + + ss << "" << std::endl; + ss << "" << std::endl; + + return ss.str(); + } + + public: + + /// Constructor + HtmlFormatter() { + + } + + /// Destructor + virtual ~HtmlFormatter() { + + } + + /// Format a log message + virtual std::string format(const std::string& message, Level level, + Category category) override { + + std::stringstream ss; + + ss << "

"; + ss << message; + ss << "

"; + + return ss.str(); + } + }; + + + /// Log destination + class Destination { + + public: + + /// Log level flag for this destination + uint levelFlag; + + /// Pointer to the formatter + Formatter* formatter; + + /// Constructor + Destination(uint levelFlag, Formatter* logFormatter) + : levelFlag(levelFlag), formatter(logFormatter) { + + } + + /// Destructor + virtual ~Destination() { + + } + + /// Write a message into the output stream + virtual void write(const std::string& message, Level level, Category category) = 0; + }; + + class FileDestination : public Destination { + + private: + + std::string mFilePath; + + /// Output file stream + std::ofstream mFileStream; + + public: + + /// Constructor + FileDestination(const std::string& filePath, uint levelFlag, Formatter* formatter) + :Destination(levelFlag, formatter), mFilePath(filePath), + mFileStream(filePath, std::ios::binary) { + + if(!mFileStream.is_open()) { + throw(std::runtime_error("ReactPhysics3D Logger: Unable to open an output stream to file " + mFilePath)); + } + + // Writer the head + mFileStream << formatter->getHeader() << std::endl; + } + + /// Destructor + virtual ~FileDestination() override { + + // Writer the tail + mFileStream << formatter->getTail() << std::endl; + + if (mFileStream.is_open()) { + + // Close the stream + mFileStream.close(); + } + } + + /// Write a message into the output stream + virtual void write(const std::string& message, Level level, Category category) override { + mFileStream << formatter->format(message, level, category) << std::endl; + } + }; + + /// Stream destination to output the logs into a stream + class StreamDestination : public Destination { + + private: + + /// Output stream + std::ostream& mOutputStream; + + public: + + /// Constructor + StreamDestination(std::ostream& outputStream, uint levelFlag, Formatter* formatter) + :Destination(levelFlag, formatter), mOutputStream(outputStream) { + + // Writer the head + mOutputStream << formatter->getHeader() << std::endl; + } + + /// Destructor + virtual ~StreamDestination() override { + + // Writer the tail + mOutputStream << formatter->getTail() << std::endl; + } + + /// Write a message into the output stream + virtual void write(const std::string& message, Level level, Category category) override { + mOutputStream << message << std::endl; + } + }; + + + private: + + // -------------------- Attributes -------------------- // + + /// All the log destinations + List mDestinations; + + /// Map a log format to the given formatter object + Map mFormatters; + + // -------------------- Methods -------------------- // + + /// Return the corresponding formatter + Formatter* getFormatter(Format format) const; + + public : + + // -------------------- Methods -------------------- // + + /// Constructor + Logger(); + + /// Destructor + ~Logger(); + + /// Add a file destination to the logger + void addFileDestination(const std::string& filePath, uint logLevelFlag, Format format); + + /// Add a stream destination to the logger + void addStreamDestination(std::ostream& outputStream, uint logLevelFlag, Format format); + + /// Remove all logs destination previously set + void removeAllDestinations(); + + /// Log something + void log(Level level, Category category, const std::string& message); +}; + + +// Use this macro to log something +#define RP3D_LOG(logger, level, category, message) logger.log(level, category, message) + + +} + +#else // If logger is not active + +// Empty macro in case logs are not enabled +#define RP3D_LOG(logger, level, message) + +#endif + +// Hash function for struct VerticesPair +namespace std { + + template<> struct hash { + + size_t operator()(const reactphysics3d::Logger::Format format) const { + + return static_cast(format); + } + }; +} + +#endif diff --git a/src/engine/Profiler.cpp b/src/utils/Profiler.cpp similarity index 85% rename from src/engine/Profiler.cpp rename to src/utils/Profiler.cpp index 3212e4a1..12b449f1 100644 --- a/src/engine/Profiler.cpp +++ b/src/utils/Profiler.cpp @@ -28,12 +28,10 @@ // Libraries #include "Profiler.h" #include +#include "memory/MemoryManager.h" using namespace reactphysics3d; -// Initialization of static variables -int Profiler::mNbProfilers = 0; - // Constructor ProfileNode::ProfileNode(const char* name, ProfileNode* parentNode) :mName(name), mNbTotalCalls(0), mStartingTime(0), mTotalTime(0), @@ -79,7 +77,7 @@ void ProfileNode::enterBlockOfCode() { // Get the current system time to initialize the starting time of // the profiling of the current block of code - mStartingTime = Timer::getCurrentSystemTime() * 1000.0; + mStartingTime = Timer::getCurrentSystemTime() * 1000.0L; } mRecursionCounter++; @@ -92,7 +90,7 @@ bool ProfileNode::exitBlockOfCode() { if (mRecursionCounter == 0 && mNbTotalCalls != 0) { // Get the current system time - long double currentTime = Timer::getCurrentSystemTime() * 1000.0; + long double currentTime = Timer::getCurrentSystemTime() * 1000.0L; // Increase the total elasped time in the current block of code mTotalTime += currentTime - mStartingTime; @@ -105,7 +103,7 @@ bool ProfileNode::exitBlockOfCode() { // Reset the profiling of the node void ProfileNode::reset() { mNbTotalCalls = 0; - mTotalTime = 0.0; + mTotalTime = 0.0L; // Reset the child node if (mChildNode != nullptr) { @@ -156,27 +154,11 @@ void ProfileNodeIterator::enterParent() { } // Constructor -Profiler::Profiler(std::string name) :mRootNode("Root", nullptr) { - - // Set the name of the profiler - if (name == "") { - - if (mNbProfilers == 0) { - mName = "profiler"; - } - else { - mName = std::string("profiler") + std::to_string(mNbProfilers); - } - } - else { - mName = name; - } +Profiler::Profiler() :mRootNode("Root", nullptr), mDestinations(MemoryManager::getBaseAllocator()) { mCurrentNode = &mRootNode; - mProfilingStartTime = Timer::getCurrentSystemTime() * 1000.0; + mProfilingStartTime = Timer::getCurrentSystemTime() * 1000.0L; mFrameCounter = 0; - - mNbProfilers++; } // Destructor @@ -213,18 +195,48 @@ void Profiler::reset() { mRootNode.reset(); mRootNode.enterBlockOfCode(); mFrameCounter = 0; - mProfilingStartTime = Timer::getCurrentSystemTime() * 1000.0; + mProfilingStartTime = Timer::getCurrentSystemTime() * 1000.0L; } // Print the report of the profiler in a given output stream -void Profiler::printReport(std::ostream& outputStream) { - ProfileNodeIterator* iterator = Profiler::getIterator(); +void Profiler::printReport() { - // Recursively print the report of each node of the profiler tree - printRecursiveNodeReport(iterator, 0, outputStream); + // For each destination + for (auto it = mDestinations.begin(); it != mDestinations.end(); ++it) { - // Destroy the iterator - destroyIterator(iterator); + ProfileNodeIterator* iterator = Profiler::getIterator(); + + // Recursively print the report of each node of the profiler tree + printRecursiveNodeReport(iterator, 0, (*it)->getOutputStream()); + + // Destroy the iterator + destroyIterator(iterator); + } +} + +// Remove all output profiling destinations previously set +void Profiler::removeAllDestinations() { + + // Delete all the destinations + for (size_t i=0; iisRoot() ? getElapsedTimeSinceStart() : iterator->getCurrentParentTotalTime(); - long double accumulatedTime = 0.0; + long double accumulatedTime = 0.0L; uint nbFrames = Profiler::getNbFrames(); for (int i=0; igetCurrentParentName() << " (total running time : " << parentTime << " ms) ---" << std::endl; - long double totalTime = 0.0; + long double totalTime = 0.0L; // Recurse over the children of the current node int nbChildren = 0; @@ -256,7 +268,7 @@ void Profiler::printRecursiveNodeReport(ProfileNodeIterator* iterator, long double currentTotalTime = iterator->getCurrentTotalTime(); accumulatedTime += currentTotalTime; long double fraction = parentTime > std::numeric_limits::epsilon() ? - (currentTotalTime / parentTime) * 100.0 : 0.0; + (currentTotalTime / parentTime) * 100.0L : 0.0L; for (int j=0; jgetCurrentName() << " : " << fraction << " % | " << (currentTotalTime / (long double) (nbFrames)) << @@ -270,7 +282,7 @@ void Profiler::printRecursiveNodeReport(ProfileNodeIterator* iterator, } for (int i=0; i std::numeric_limits::epsilon() ? - ((parentTime - accumulatedTime) / parentTime) * 100.0 : 0.0; + ((parentTime - accumulatedTime) / parentTime) * 100.0L : 0.0L; long double difference = parentTime - accumulatedTime; outputStream << "| Unaccounted : " << difference << " ms (" << percentage << " %)" << std::endl; diff --git a/src/engine/Profiler.h b/src/utils/Profiler.h similarity index 77% rename from src/engine/Profiler.h rename to src/utils/Profiler.h index 84b7ed59..df64dfd6 100644 --- a/src/engine/Profiler.h +++ b/src/utils/Profiler.h @@ -30,7 +30,9 @@ // Libraries #include "configuration.h" -#include "Timer.h" +#include "engine/Timer.h" +#include +#include "containers/List.h" /// ReactPhysics3D namespace namespace reactphysics3d { @@ -180,16 +182,102 @@ class ProfileNodeIterator { */ class Profiler { + public: + + /// Format of the profiling data (text, ...) + enum class Format {Text}; + + /// Profile destination + class Destination { + + public: + + /// Log format (text, ...) + Format format; + + /// Constructor + Destination(Format logFormat) : format(logFormat) { + + } + + /// Destructor + virtual ~Destination() { + + } + + /// Return the current output stream + virtual std::ostream& getOutputStream() = 0; + }; + + /// File destination to output profiling data into a file + class FileDestination : public Destination { + + private: + + std::string mFilePath; + + /// Output file stream + std::ofstream mFileStream; + + public: + + /// Constructor + FileDestination(const std::string& filePath, Format format) + :Destination(format), mFilePath(filePath), + mFileStream(filePath, std::ios::binary) { + + if(!mFileStream.is_open()) { + throw(std::runtime_error("ReactPhysics3D Logger: Unable to open an output stream to file " + mFilePath)); + } + } + + /// Destructor + virtual ~FileDestination() override { + + if (mFileStream.is_open()) { + + // Close the stream + mFileStream.close(); + } + } + + /// Return the current output stream + virtual std::ostream& getOutputStream() override { + return mFileStream; + } + }; + + /// Stream destination to output profiling data into a stream + class StreamDestination : public Destination { + + private: + + /// Output stream + std::ostream& mOutputStream; + + public: + + /// Constructor + StreamDestination(std::ostream& outputStream, Format format) + :Destination(format), mOutputStream(outputStream) { + + } + + /// Destructor + virtual ~StreamDestination() override { + + } + + /// Return the current output stream + virtual std::ostream& getOutputStream() override { + return mOutputStream; + } + }; + private : // -------------------- Attributes -------------------- // - /// Profiler name - std::string mName; - - /// Total number of profilers - static int mNbProfilers; - /// Root node of the profiler tree ProfileNode mRootNode; @@ -202,8 +290,12 @@ class Profiler { /// Starting profiling time long double mProfilingStartTime; + /// All the output destinations + List mDestinations; + /// Recursively print the report of a given node of the profiler tree - void printRecursiveNodeReport(ProfileNodeIterator* iterator, int spacing, std::ostream& outputStream); + void printRecursiveNodeReport(ProfileNodeIterator* iterator, int spacing, + std::ostream &outputStream); /// Destroy a previously allocated iterator void destroyIterator(ProfileNodeIterator* iterator); @@ -216,7 +308,7 @@ class Profiler { // -------------------- Methods -------------------- // /// Constructor - Profiler(std::string name = ""); + Profiler(); /// Destructor ~Profiler(); @@ -234,12 +326,6 @@ class Profiler { /// Return the number of frames uint getNbFrames(); - /// Get the name of the profiler - std::string getName() const; - - /// Set the name of the profiler - void setName(std::string name); - /// Return the elasped time since the start/reset of the profiling long double getElapsedTimeSinceStart(); @@ -249,8 +335,17 @@ class Profiler { /// Return an iterator over the profiler tree starting at the root ProfileNodeIterator* getIterator(); - /// Print the report of the profiler in a given output stream - void printReport(std::ostream& outputStream); + // Add a file destination to the profiler + void addFileDestination(const std::string& filePath, Format format); + + // Add a stream destination to the profiler + void addStreamDestination(std::ostream& outputStream, Format format); + + /// Remove all logs destination previously set + void removeAllDestinations(); + + /// Print the report of the profiler in every output destinations + void printReport(); }; // Class ProfileSample @@ -287,7 +382,7 @@ class ProfileSample { }; // Use this macro to start profile a block of code -#define PROFILE(name, profiler) ProfileSample profileSample(name, profiler) +#define RP3D_PROFILE(name, profiler) ProfileSample profileSample(name, profiler) // Return true if we are at the root of the profiler tree inline bool ProfileNodeIterator::isRoot() { @@ -374,19 +469,9 @@ inline uint Profiler::getNbFrames() { return mFrameCounter; } -// Get the name of the profiler -inline std::string Profiler::getName() const { - return mName; -} - -// Set the name of the profiler -inline void Profiler::setName(std::string name) { - mName = name; -} - // Return the elasped time since the start/reset of the profiling inline long double Profiler::getElapsedTimeSinceStart() { - long double currentTime = Timer::getCurrentSystemTime() * 1000.0; + long double currentTime = Timer::getCurrentSystemTime() * 1000.0L; return currentTime - mProfilingStartTime; } @@ -412,10 +497,10 @@ inline void Profiler::destroy() { } -#else // In profile is not active +#else // If profile is not active // Empty macro in case profiling is not active -#define PROFILE(name, profiler) +#define RP3D_PROFILE(name, profiler) #endif diff --git a/test/tests/collision/TestCollisionWorld.h b/test/tests/collision/TestCollisionWorld.h index 64abab25..372b9dc5 100644 --- a/test/tests/collision/TestCollisionWorld.h +++ b/test/tests/collision/TestCollisionWorld.h @@ -639,7 +639,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points Vector3 localBody1Point(3, 0, 0); @@ -663,7 +663,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -684,7 +684,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -705,7 +705,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -759,7 +759,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points Vector3 localBody1Point(3, 0, 0); @@ -783,7 +783,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -804,7 +804,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -825,7 +825,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -869,7 +869,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points localBody1Point = std::sqrt(4.5f) * Vector3(1, -1, 0); @@ -893,7 +893,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -914,7 +914,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -935,7 +935,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -979,7 +979,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points localBody1Point = std::sqrt(9.0f / 3.0f) * Vector3(1, -1, -1); @@ -1003,7 +1003,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1024,7 +1024,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1045,7 +1045,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1099,7 +1099,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points Vector3 localBody1Point(0, -3, 0); @@ -1123,7 +1123,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1144,7 +1144,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1165,7 +1165,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1209,7 +1209,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points localBody1Point = Vector3(3, 0, 0); @@ -1233,7 +1233,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1254,7 +1254,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1275,7 +1275,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1329,7 +1329,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points Vector3 localBody1Point(3, 0, 0); @@ -1353,7 +1353,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1374,7 +1374,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1395,7 +1395,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1439,7 +1439,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points localBody1Point = std::sqrt(4.5f) * Vector3(1, -1, 0); @@ -1463,7 +1463,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1484,7 +1484,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1505,7 +1505,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1549,7 +1549,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points localBody1Point = std::sqrt(9.0f / 3.0f) * Vector3(1, -1, -1); @@ -1573,7 +1573,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1594,7 +1594,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1615,7 +1615,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1669,7 +1669,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points Vector3 localBody1Point(0, -3, 0); @@ -1693,7 +1693,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1714,7 +1714,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1735,7 +1735,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mSphereBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1789,7 +1789,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); // Test contact points Vector3 localBody1Point1(-3, -2, -2); @@ -1831,7 +1831,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -1860,7 +1860,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -1890,7 +1890,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -1953,7 +1953,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); // Test contact points Vector3 localBody1Point1(-3, -2, -2); @@ -1995,7 +1995,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2024,7 +2024,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2054,7 +2054,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2117,7 +2117,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mConvexMeshBody1->getID(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mConvexMeshBody1->getId(); // Test contact points Vector3 localBody1Point1(-3, -2, -2); @@ -2159,7 +2159,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mConvexMeshBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mConvexMeshBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2188,7 +2188,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mConvexMeshBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mConvexMeshBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2218,7 +2218,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mConvexMeshBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mConvexMeshBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2281,7 +2281,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); // Test contact points Vector3 localBody1Point1(3, 1, 0); @@ -2304,7 +2304,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2325,7 +2325,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2346,7 +2346,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2400,7 +2400,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mConvexMeshBody1->getID(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mConvexMeshBody1->getId(); // Test contact points Vector3 localBody1Point1(3, 1, 0); @@ -2423,7 +2423,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mConvexMeshBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mConvexMeshBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2444,7 +2444,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mConvexMeshBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mConvexMeshBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2465,7 +2465,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mConvexMeshBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mConvexMeshBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2519,7 +2519,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); for (int i=0; icontactManifolds[0].contactPoints.size(); i++) { test(approxEqual(collisionData->contactManifolds[0].contactPoints[i].penetrationDepth, 1.0f)); @@ -2539,7 +2539,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); for (int i=0; icontactManifolds[0].contactPoints.size(); i++) { test(approxEqual(collisionData->contactManifolds[0].contactPoints[i].penetrationDepth, 1.0f)); @@ -2559,7 +2559,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); for (int i=0; icontactManifolds[0].contactPoints.size(); i++) { test(approxEqual(collisionData->contactManifolds[0].contactPoints[i].penetrationDepth, 1.0f)); @@ -2579,7 +2579,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mBoxBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); // Test contact points for (int i=0; icontactManifolds[0].contactPoints.size(); i++) { @@ -2633,7 +2633,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mConvexMeshBody1->getID(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mConvexMeshBody1->getId(); for (int i=0; icontactManifolds[0].contactPoints.size(); i++) { test(approxEqual(collisionData->contactManifolds[0].contactPoints[i].penetrationDepth, 1.0f)); @@ -2653,7 +2653,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mConvexMeshBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mConvexMeshBody1->getId(); for (int i=0; icontactManifolds[0].contactPoints.size(); i++) { test(approxEqual(collisionData->contactManifolds[0].contactPoints[i].penetrationDepth, 1.0f)); @@ -2673,7 +2673,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mConvexMeshBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mConvexMeshBody1->getId(); for (int i=0; icontactManifolds[0].contactPoints.size(); i++) { test(approxEqual(collisionData->contactManifolds[0].contactPoints[i].penetrationDepth, 1.0f)); @@ -2693,7 +2693,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mConvexMeshBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mConvexMeshBody1->getId(); // Test contact points for (int i=0; icontactManifolds[0].contactPoints.size(); i++) { @@ -2747,7 +2747,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mCapsuleBody1->getID(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); // Test contact points Vector3 localBody1Point(2, 3, 0); @@ -2771,7 +2771,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mCapsuleBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -2792,7 +2792,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mCapsuleBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -2813,7 +2813,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mCapsuleBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -2857,7 +2857,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mCapsuleBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); // Test contact points localBody1Point = Vector3(0, 5, 0); @@ -2881,7 +2881,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mCapsuleBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -2902,7 +2902,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mCapsuleBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -2923,7 +2923,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mCapsuleBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -2977,7 +2977,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getID() != mCapsuleBody1->getID(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); // Test contact points Vector3 localBody1Point(0, -5, 0); @@ -3001,7 +3001,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mCapsuleBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -3022,7 +3022,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mCapsuleBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -3043,7 +3043,7 @@ class TestCollisionWorld : public Test { test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getID() != mCapsuleBody1->getID(); + swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); // Test contact points test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, diff --git a/test/tests/collision/TestRaycast.h b/test/tests/collision/TestRaycast.h index 60d3068b..7714264a 100644 --- a/test/tests/collision/TestRaycast.h +++ b/test/tests/collision/TestRaycast.h @@ -63,7 +63,7 @@ class WorldRaycastCallback : public RaycastCallback { virtual decimal notifyRaycastHit(const RaycastInfo& info) override { - if (shapeToTest->getBody()->getID() == info.body->getID()) { + if (shapeToTest->getBody()->getId() == info.body->getId()) { raycastInfo.body = info.body; raycastInfo.hitFraction = info.hitFraction; raycastInfo.proxyShape = info.proxyShape; @@ -1310,7 +1310,6 @@ class TestRaycast : public Test { // CollisionWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); - Vector3 localTest = inverse * mCallback.raycastInfo.worldPoint; test(mCallback.isHit); test(mCallback.raycastInfo.body == mConvexMeshBody); test(mCallback.raycastInfo.proxyShape == mConvexMeshProxyShape); diff --git a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp index 02e8acc1..644b378f 100755 --- a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp +++ b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp @@ -47,13 +47,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine setScenePosition(center, SCENE_RADIUS); // Create the dynamics world for the physics simulation - mPhysicsWorld = new rp3d::CollisionWorld(); - -#ifdef IS_PROFILING_ACTIVE - - mPhysicsWorld->setProfilerName(name + "_profiler"); - -#endif + mPhysicsWorld = new rp3d::CollisionWorld(name); // ---------- Sphere 1 ---------- // diff --git a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp index 8efc13de..e5fb3110 100644 --- a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp +++ b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp @@ -46,14 +46,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin rp3d::Vector3 gravity(0, -9.81f, 0); // Create the dynamics world for the physics simulation - mPhysicsWorld = new rp3d::DynamicsWorld(gravity); - -#ifdef IS_PROFILING_ACTIVE - - mPhysicsWorld->setProfilerName(name + "_profiler"); - -#endif - + mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name); for (int i=0; isetProfilerName(name + "_profiler"); - -#endif + mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name); // ---------- Create the boxes ----------- // for (int i = 0; isetProfilerName(name + "_profiler"); - -#endif + mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name); // Create all the cubes of the scene for (int i=0; isetProfilerName(name + "_profiler"); - -#endif + mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name); // Create all the cubes of the scene for (int i=1; i<=NB_FLOORS; i++) { diff --git a/testbed/scenes/heightfield/HeightFieldScene.cpp b/testbed/scenes/heightfield/HeightFieldScene.cpp index 0d13d40d..ed8f1313 100644 --- a/testbed/scenes/heightfield/HeightFieldScene.cpp +++ b/testbed/scenes/heightfield/HeightFieldScene.cpp @@ -46,14 +46,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0); // Create the dynamics world for the physics simulation - mPhysicsWorld = new rp3d::DynamicsWorld(gravity); - -#ifdef IS_PROFILING_ACTIVE - - mPhysicsWorld->setProfilerName(name + "_profiler"); - -#endif - + mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name); for (int i = 0; isetProfilerName(name + "_profiler"); - -#endif + mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name); // Create the Ball-and-Socket joint createBallAndSocketJoints(); diff --git a/testbed/scenes/raycast/RaycastScene.cpp b/testbed/scenes/raycast/RaycastScene.cpp index 5705627d..6ef8a54c 100644 --- a/testbed/scenes/raycast/RaycastScene.cpp +++ b/testbed/scenes/raycast/RaycastScene.cpp @@ -45,13 +45,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) setScenePosition(center, SCENE_RADIUS); // Create the dynamics world for the physics simulation - mPhysicsWorld = new rp3d::CollisionWorld(); - -#ifdef IS_PROFILING_ACTIVE - - mPhysicsWorld->setProfilerName(name + "_profiler"); - -#endif + mPhysicsWorld = new rp3d::CollisionWorld(name); // ---------- Dumbbell ---------- //