Refactor profiler and start working on logger

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

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;
 }
 

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 {

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<DynamicsWorld&>(mWorld);
  	 const Vector3 displacement = world.mTimeStep * mLinearVelocity;

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<Pair<uint, uint>, 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<Pair<uint, uint>, 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<Pair<uint, uint>, 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<Pair<uint, uint>, 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<int> overlappingNodes(mMemoryManager.getPoolAllocator());
             mBroadPhaseAlgorithm.reportAllShapesOverlappingWithAABB(shapeAABB, overlappingNodes);
 
-            const bodyindex bodyId = body->getID();
+            const bodyindex bodyId = body->getId();
 
             // For each overlaping proxy shape
             LinkedList<int>::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() &&
+                if (reportedBodies.find(proxyShape->getBody()->getId()) == reportedBodies.end() &&
-                    proxyShape->getBody()->getID() != bodyId) {
+                    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<int> overlappingNodes(mMemoryManager.getPoolAllocator());
             mBroadPhaseAlgorithm.reportAllShapesOverlappingWithAABB(shapeAABB, overlappingNodes);
 
-            const bodyindex bodyId = body->getID();
+            const bodyindex bodyId = body->getId();
 
             // For each overlaping proxy shape
             LinkedList<int>::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) {

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);
 

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<ProxyShape*>(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);

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);
 

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;
 

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 <algorithm>
 #include <cmath>
 #include <cfloat>
@@ -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

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 <algorithm>
 #include <cmath>
 #include <cfloat>
@@ -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);

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;

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 {

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);

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 {
 

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);
 

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 {
 

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 <cassert>
 
@@ -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;

src/constraint/BallAndSocketJoint.cpp

@@ -33,8 +33,8 @@ using namespace reactphysics3d;
 const decimal BallAndSocketJoint::BETA = decimal(0.2);
 
 // Constructor
-BallAndSocketJoint::BallAndSocketJoint(const BallAndSocketJointInfo& jointInfo)
+BallAndSocketJoint::BallAndSocketJoint(uint id, const BallAndSocketJointInfo& jointInfo)
-                   : Joint(jointInfo), mImpulse(Vector3(0, 0, 0)) {
+                   : Joint(id, jointInfo), mImpulse(Vector3(0, 0, 0)) {
 
     // Compute the local-space anchor point for each body
     mLocalAnchorPointBody1 = mBody1->getTransform().getInverse() * jointInfo.anchorPointWorldSpace;

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;

src/constraint/FixedJoint.cpp

@@ -33,8 +33,8 @@ using namespace reactphysics3d;
 const decimal FixedJoint::BETA = decimal(0.2);
 
 // Constructor
-FixedJoint::FixedJoint(const FixedJointInfo& jointInfo)
+FixedJoint::FixedJoint(uint id, const FixedJointInfo& jointInfo)
-           : Joint(jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0, 0) {
+           : 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();

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;

src/constraint/HingeJoint.cpp

@@ -34,8 +34,8 @@ using namespace reactphysics3d;
 const decimal HingeJoint::BETA = decimal(0.2);
 
 // Constructor
-HingeJoint::HingeJoint(const HingeJointInfo& jointInfo)
+HingeJoint::HingeJoint(uint id, const HingeJointInfo& jointInfo)
-           : Joint(jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0),
+           : 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),

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;

src/constraint/Joint.cpp

@@ -29,8 +29,8 @@
 using namespace reactphysics3d;
 
 // Constructor
-Joint::Joint(const JointInfo& jointInfo)
+Joint::Joint(uint id, const JointInfo& jointInfo)
-           :mBody1(jointInfo.body1), mBody2(jointInfo.body2), mType(jointInfo.type),
+           :mId(id), mBody1(jointInfo.body1), mBody2(jointInfo.body2), mType(jointInfo.type),
             mPositionCorrectionTechnique(jointInfo.positionCorrectionTechnique),
             mIsCollisionEnabled(jointInfo.isCollisionEnabled), mIsAlreadyInIsland(false) {
 

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;

src/constraint/SliderJoint.cpp

@@ -32,8 +32,8 @@ using namespace reactphysics3d;
 const decimal SliderJoint::BETA = decimal(0.2);
 
 // Constructor
-SliderJoint::SliderJoint(const SliderJointInfo& jointInfo)
+SliderJoint::SliderJoint(uint id, const SliderJointInfo& jointInfo)
-            : Joint(jointInfo), mImpulseTranslation(0, 0), mImpulseRotation(0, 0, 0),
+            : 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),

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;

src/containers/List.h

@@ -29,6 +29,7 @@
 // Libraries
 #include "configuration.h"
 #include "memory/MemoryAllocator.h"
+#include <cassert>
 #include <cstring>
 #include <iterator>
 

src/containers/Pair.h

@@ -86,7 +86,7 @@ class Pair {
 
 }
 
-// Hash function for struct VerticesPair
+// Hash function for a reactphysics3d Pair
 namespace std {
 
   template <typename T1, typename T2> struct hash<reactphysics3d::Pair<T1, T2>> {

src/engine/CollisionWorld.cpp

@@ -26,28 +26,64 @@
 // Libraries
 #include "CollisionWorld.h"
 #include <algorithm>
+#include <sstream>
 
 // Namespaces
 using namespace reactphysics3d;
 using namespace std;
 
+// Initialization of static fields
+uint CollisionWorld::mNbWorlds = 0;
+
 // Constructor
-CollisionWorld::CollisionWorld(const WorldSettings& worldSettings)
+CollisionWorld::CollisionWorld(const string& name, const WorldSettings& worldSettings)
-               : mConfig(worldSettings), mCollisionDetection(this, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mCurrentBodyID(0),
+               : mConfig(worldSettings), mCollisionDetection(this, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mCurrentBodyId(0),
-                 mFreeBodiesIDs(mMemoryManager.getPoolAllocator()), mEventListener(nullptr) {
+                 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
+    // Add a destination file for the profiling data
-	mCollisionDetection.setProfiler(&mProfiler);
+    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<uint>(Logger::Level::Info) | static_cast<uint>(Logger::Level::Warning) |
+                    static_cast<uint>(Logger::Level::Error);
+    mLogger.addFileDestination("rp3d_log_" + mName + ".html", logLevel, Logger::Format::HTML);
+
+#endif
+
+    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<reactphysics3d::bodyindex>::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) {
+    if (mFreeBodiesIds.size() != 0) {
-        bodyID = mFreeBodiesIDs[mFreeBodiesIDs.size() - 1];
+        bodyID = mFreeBodiesIds[mFreeBodiesIds.size() - 1];
-        mFreeBodiesIDs.removeAt(mFreeBodiesIDs.size() - 1);
+        mFreeBodiesIds.removeAt(mFreeBodiesIds.size() - 1);
     }
     else {
-        bodyID = mCurrentBodyID;
+        bodyID = mCurrentBodyId;
-        mCurrentBodyID++;
+        mCurrentBodyId++;
     }
 
     return bodyID;

src/engine/CollisionWorld.h

@@ -30,7 +30,8 @@
 #include <algorithm>
 #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<CollisionBody*> mBodies;
 
-        /// Current body ID
+        /// Current body id
-        bodyindex mCurrentBodyID;
+        bodyindex mCurrentBodyId;
 
-        /// List of free ID for rigid bodies
+        /// List of free ids for rigid bodies
-        List<luint> mFreeBodiesIDs;
+        List<luint> 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
+        /// Return the next available body id
-        bodyindex computeNextAvailableBodyID();
+        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
+        /// Return a reference to the profiler
-		void setProfilerName(std::string name);
+        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
+// Return a reference to the profiler
-inline void CollisionWorld::setProfilerName(std::string name) {
+inline Profiler& CollisionWorld::getProfiler() {
-	mProfiler.setName(name);
+    return mProfiler;
+}
+
+#endif
+
+#ifdef IS_LOGGING_ACTIVE
+
+// Return a reference to the logger
+inline Logger& CollisionWorld::getLogger() {
+    return mLogger;
 }
 
 #endif

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);

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 <limits>
 
 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));
 

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)
+DynamicsWorld::DynamicsWorld(const Vector3& gravity, const string& name, const WorldSettings& worldSettings)
-              : CollisionWorld(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
+    // Print the profiling report into the destinations
-	ofstream myfile;
+    mProfiler.printReport();
-	myfile.open(mProfiler.getName() + ".txt");
-    mProfiler.printReport(myfile);
-	myfile.close();
 #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<reactphysics3d::bodyindex>::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<const BallAndSocketJointInfo&>(
                                                                                         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<const SliderJointInfo&>(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<const HingeJointInfo&>(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<const FixedJointInfo&>(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<RigidBody*>(contactManifold->getBody1());
                 RigidBody* body2 = static_cast<RigidBody*>(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<RigidBody*>(joint->getBody1());
                 RigidBody* body2 = static_cast<RigidBody*>(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

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<luint> 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.

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 indexPair = body1->getId() < body2->getId() ?
-                                 bodyindexpair(body1->getID(), body2->getID()) :
+                                 bodyindexpair(body1->getId(), body2->getId()) :
-                                 bodyindexpair(body2->getID(), body1->getID());
+                                 bodyindexpair(body2->getId(), body1->getId());
     assert(indexPair.first != indexPair.second);
     return indexPair;
 }

src/mathematics/Matrix2x2.h

@@ -28,6 +28,7 @@
 
 // Libraries
 #include <cassert>
+#include <string>
 #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

src/mathematics/Matrix3x3.h

@@ -29,6 +29,7 @@
 
 // Libraries
 #include <cassert>
+#include <string>
 #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

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

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

src/mathematics/Vector2.h

@@ -29,6 +29,7 @@
 // Libraries
 #include <cmath>
 #include <cassert>
+#include <string>
 #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);

src/mathematics/Vector3.h

@@ -29,6 +29,7 @@
 // Libraries
 #include <cmath>
 #include <cassert>
+#include <string>
 #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);

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, Formatter*>(Format::Text, new TextFormatter()));
+    mFormatters.add(Pair<Format, Formatter*>(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; i<mDestinations.size(); i++) {
+        delete mDestinations[i];
+    }
+
+    mDestinations.clear();
+}
+
+// Log something
+void Logger::log(Level level, Category category, const std::string& message) {
+
+    // For each destination
+    for (auto it = mDestinations.begin(); it != mDestinations.end(); ++it) {
+
+        (*it)->write(message, level, category);
+    }
+}
+
+#endif

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 <string>
+#include <iostream>
+#include <fstream>
+#include <sstream>
+
+/// 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 << "<!DOCTYPE HTML>" << std::endl;
+                    ss << "<html>" << std::endl;
+                    ss << "<head>" << std::endl;
+                    ss << "<title>ReactPhysics3D Logs</title>" << std::endl;
+                    ss << "</head>" << std::endl;
+                    ss << "<body>" << 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 << "</body>" << std::endl;
+                    ss << "</html>" << 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 << "<p>";
+                    ss << message;
+                    ss << "</p>";
+
+                    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<Destination*> mDestinations;
+
+        /// Map a log format to the given formatter object
+        Map<Format, Formatter*> 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<reactphysics3d::Logger::Format> {
+
+    size_t operator()(const reactphysics3d::Logger::Format format) const {
+
+        return static_cast<size_t>(format);
+    }
+  };
+}
+
+#endif

src/utils/Profiler.cpp

@@ -28,12 +28,10 @@
 // Libraries
 #include "Profiler.h"
 #include <string>
+#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) {
+Profiler::Profiler() :mRootNode("Root", nullptr), mDestinations(MemoryManager::getBaseAllocator()) {
-
-	// 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;
-	}
 
 	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) {
+void Profiler::printReport() {
-    ProfileNodeIterator* iterator = Profiler::getIterator();
 
-    // Recursively print the report of each node of the profiler tree
+    // For each destination
-    printRecursiveNodeReport(iterator, 0, outputStream);
+    for (auto it = mDestinations.begin(); it != mDestinations.end(); ++it) {
 
-    // Destroy the iterator
+        ProfileNodeIterator* iterator = Profiler::getIterator();
-    destroyIterator(iterator);
+
+        // 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; i<mDestinations.size(); i++) {
+        delete mDestinations[i];
+    }
+
+    mDestinations.clear();
+}
+
+// Add a file destination to the profiler
+void Profiler::addFileDestination(const std::string& filePath, Format format) {
+
+    FileDestination* destination = new FileDestination(filePath, format);
+    mDestinations.add(destination);
+}
+
+// Add a stream destination to the profiler
+void Profiler::addStreamDestination(std::ostream& outputStream, Format format) {
+
+    StreamDestination* destination = new StreamDestination(outputStream, format);
+    mDestinations.add(destination);
 }
 
 // Recursively print the report of a given node of the profiler tree
@@ -240,14 +252,14 @@ void Profiler::printRecursiveNodeReport(ProfileNodeIterator* iterator,
 
     long double parentTime = iterator->isRoot() ? getElapsedTimeSinceStart() :
                                                   iterator->getCurrentParentTotalTime();
-    long double accumulatedTime = 0.0;
+    long double accumulatedTime = 0.0L;
     uint nbFrames = Profiler::getNbFrames();
     for (int i=0; i<spacing; i++) outputStream << " ";
     outputStream << "---------------" << std::endl;
     for (int i=0; i<spacing; i++) outputStream << " ";
     outputStream << "| Profiling : " << iterator->getCurrentParentName() <<
                     " (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<long double>::epsilon() ?
-                               (currentTotalTime / parentTime) * 100.0 : 0.0;
+                               (currentTotalTime / parentTime) * 100.0L : 0.0L;
         for (int j=0; j<spacing; j++) outputStream << " ";
         outputStream << "|   " << i << " -- " << iterator->getCurrentName() << " : " <<
                         fraction << " % | " << (currentTotalTime / (long double) (nbFrames)) <<
@@ -270,7 +282,7 @@ void Profiler::printRecursiveNodeReport(ProfileNodeIterator* iterator,
     }
     for (int i=0; i<spacing; i++) outputStream << " ";
     long double percentage = parentTime > std::numeric_limits<long double>::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;
 

src/utils/Profiler.h

@@ -30,7 +30,9 @@
 
 // Libraries
 #include "configuration.h"
-#include "Timer.h"
+#include "engine/Timer.h"
+#include <fstream>
+#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<Destination*> 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
+        // Add a file destination to the profiler
-        void printReport(std::ostream& outputStream);
+        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
 

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; i<collisionData->contactManifolds[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; i<collisionData->contactManifolds[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; i<collisionData->contactManifolds[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; i<collisionData->contactManifolds[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; i<collisionData->contactManifolds[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; i<collisionData->contactManifolds[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; i<collisionData->contactManifolds[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; i<collisionData->contactManifolds[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,

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);

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();
+    mPhysicsWorld = new rp3d::CollisionWorld(name);
-
-#ifdef IS_PROFILING_ACTIVE
-
-    mPhysicsWorld->setProfilerName(name + "_profiler");
-
-#endif
 
     // ---------- Sphere 1 ---------- //
 

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);
+    mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name);
-
-#ifdef IS_PROFILING_ACTIVE
-
-    mPhysicsWorld->setProfilerName(name + "_profiler");
-
-#endif
-
 
     for (int i=0; i<NB_COMPOUND_SHAPES; i++) {
 

testbed/scenes/concavemesh/ConcaveMeshScene.cpp

@@ -46,13 +46,7 @@ ConcaveMeshScene::ConcaveMeshScene(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);
+    mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name);
-
-#ifdef IS_PROFILING_ACTIVE
-
-    mPhysicsWorld->setProfilerName(name + "_profiler");
-
-#endif
 
     // ---------- Create the boxes ----------- //
     for (int i = 0; i<NB_COMPOUND_SHAPES; i++) {

testbed/scenes/cubes/CubesScene.cpp

@@ -44,13 +44,7 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings)
     rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
 
     // Create the dynamics world for the physics simulation
-    mPhysicsWorld = new rp3d::DynamicsWorld(gravity);
+    mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name);
-
-#ifdef IS_PROFILING_ACTIVE
-
-    mPhysicsWorld->setProfilerName(name + "_profiler");
-
-#endif
 
     // Create all the cubes of the scene
     for (int i=0; i<NB_CUBES; i++) {

testbed/scenes/cubestack/CubeStackScene.cpp

@@ -44,13 +44,7 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings
     rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
 
     // Create the dynamics world for the physics simulation
-    mPhysicsWorld = new rp3d::DynamicsWorld(gravity);
+    mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name);
-
-#ifdef IS_PROFILING_ACTIVE
-
-    mPhysicsWorld->setProfilerName(name + "_profiler");
-
-#endif
 
     // Create all the cubes of the scene
     for (int i=1; i<=NB_FLOORS; i++) {

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);
+    mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name);
-
-#ifdef IS_PROFILING_ACTIVE
-
-    mPhysicsWorld->setProfilerName(name + "_profiler");
-
-#endif
-
 
 	for (int i = 0; i<NB_COMPOUND_SHAPES; i++) {
 

testbed/scenes/joints/JointsScene.cpp

@@ -45,13 +45,7 @@ JointsScene::JointsScene(const std::string& name, EngineSettings& settings)
     rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
 
     // Create the dynamics world for the physics simulation
-    mPhysicsWorld = new rp3d::DynamicsWorld(gravity);
+    mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name);
-
-#ifdef IS_PROFILING_ACTIVE
-
-    mPhysicsWorld->setProfilerName(name + "_profiler");
-
-#endif
 
     // Create the Ball-and-Socket joint
     createBallAndSocketJoints();

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();
+    mPhysicsWorld = new rp3d::CollisionWorld(name);
-
-#ifdef IS_PROFILING_ACTIVE
-
-    mPhysicsWorld->setProfilerName(name + "_profiler");
-
-#endif
 
     // ---------- Dumbbell ---------- //