mrq/reactphysics3d
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Refactor profiler and start working on logger

Browse Source
This commit is contained in:
Daniel Chappuis 2018-03-14 07:33:28 +01:00
parent 62bd3bc115
commit 393bb0ed88
57 changed files with 1059 additions and 343 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
CMakeLists.txt
View File

@ -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

6
src/body/Body.h
View File

@ -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;
}

2
src/body/CollisionBody.h
View File

@ -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 {

2
src/body/RigidBody.cpp
View File

@ -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;

30
src/collision/CollisionDetection.cpp
View File

@ -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() &&
proxyShape->getBody()->getID() != bodyId) {
if (reportedBodies.find(proxyShape->getBody()->getId()) == reportedBodies.end() &&
proxyShape->getBody()->getId() != bodyId) {
// Check if the collision filtering allows collision between the two shapes
if ((proxyShape->getCollisionCategoryBits() & categoryMaskBits) != 0) {
@ -711,7 +711,7 @@ void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overl
CollisionBody* overlapBody = proxyShape->getBody();
// Add the body into the set of reported bodies
reportedBodies.add(overlapBody->getID());
reportedBodies.add(overlapBody->getId());
// Notify the overlap to the user
overlapCallback->notifyOverlap(overlapBody);
@ -826,7 +826,7 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c
LinkedList<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) {

2
src/collision/CollisionDetection.h
View File

@ -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);

4
src/collision/broadphase/BroadPhaseAlgorithm.cpp
View File

@ -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);

4
src/collision/broadphase/BroadPhaseAlgorithm.h
View File

@ -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);

6
src/collision/broadphase/DynamicAABBTree.cpp
View File

@ -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;

4
src/collision/narrowphase/GJK/GJKAlgorithm.cpp
View File

@ -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

28
src/collision/narrowphase/SAT/SATAlgorithm.cpp
View File

@ -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);

4
src/collision/shapes/CollisionShape.cpp
View File

@ -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;

2
src/collision/shapes/CollisionShape.h
View File

@ -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 {

2
src/collision/shapes/ConcaveMeshShape.cpp
View File

@ -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);

2
src/collision/shapes/ConcaveMeshShape.h
View File

@ -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 {

2
src/collision/shapes/HeightFieldShape.cpp
View File

@ -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);

2
src/collision/shapes/HeightFieldShape.h
View File

@ -29,7 +29,7 @@
// Libraries
#include "ConcaveShape.h"
#include "collision/shapes/TriangleShape.h"
#include "engine/Profiler.h"
#include "utils/Profiler.h"
namespace reactphysics3d {

4
src/collision/shapes/TriangleShape.cpp
View File

@ -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;

4
src/constraint/BallAndSocketJoint.cpp
View File

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

2
src/constraint/BallAndSocketJoint.h
View File

@ -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;

4
src/constraint/FixedJoint.cpp
View File

@ -33,8 +33,8 @@ using namespace reactphysics3d;
const decimal FixedJoint::BETA = decimal(0.2);
// Constructor
FixedJoint::FixedJoint(const FixedJointInfo& jointInfo)
: Joint(jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0, 0) {
FixedJoint::FixedJoint(uint id, const FixedJointInfo& jointInfo)
: Joint(id, jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0, 0) {
// Compute the local-space anchor point for each body
const Transform& transform1 = mBody1->getTransform();

2
src/constraint/FixedJoint.h
View File

@ -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;

4
src/constraint/HingeJoint.cpp
View File

@ -34,8 +34,8 @@ using namespace reactphysics3d;
const decimal HingeJoint::BETA = decimal(0.2);
// Constructor
HingeJoint::HingeJoint(const HingeJointInfo& jointInfo)
: Joint(jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0),
HingeJoint::HingeJoint(uint id, const HingeJointInfo& jointInfo)
: Joint(id, jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0),
mImpulseLowerLimit(0), mImpulseUpperLimit(0), mImpulseMotor(0),
mIsLimitEnabled(jointInfo.isLimitEnabled), mIsMotorEnabled(jointInfo.isMotorEnabled),
mLowerLimit(jointInfo.minAngleLimit), mUpperLimit(jointInfo.maxAngleLimit),

2
src/constraint/HingeJoint.h
View File

@ -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;

4
src/constraint/Joint.cpp
View File

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

19
src/constraint/Joint.h
View File

@ -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;

4
src/constraint/SliderJoint.cpp
View File

@ -32,8 +32,8 @@ using namespace reactphysics3d;
const decimal SliderJoint::BETA = decimal(0.2);
// Constructor
SliderJoint::SliderJoint(const SliderJointInfo& jointInfo)
: Joint(jointInfo), mImpulseTranslation(0, 0), mImpulseRotation(0, 0, 0),
SliderJoint::SliderJoint(uint id, const SliderJointInfo& jointInfo)
: Joint(id, jointInfo), mImpulseTranslation(0, 0), mImpulseRotation(0, 0, 0),
mImpulseLowerLimit(0), mImpulseUpperLimit(0), mImpulseMotor(0),
mIsLimitEnabled(jointInfo.isLimitEnabled), mIsMotorEnabled(jointInfo.isMotorEnabled),
mLowerLimit(jointInfo.minTranslationLimit),

2
src/constraint/SliderJoint.h
View File

@ -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;

1
src/containers/List.h
View File

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

2
src/containers/Pair.h
View File

@ -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>> {

64
src/engine/CollisionWorld.cpp
View File

@ -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)
: mConfig(worldSettings), mCollisionDetection(this, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mCurrentBodyID(0),
mFreeBodiesIDs(mMemoryManager.getPoolAllocator()), mEventListener(nullptr) {
CollisionWorld::CollisionWorld(const string& name, const WorldSettings& worldSettings)
: mConfig(worldSettings), mCollisionDetection(this, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mCurrentBodyId(0),
mFreeBodiesIds(mMemoryManager.getPoolAllocator()), mEventListener(nullptr), mName(name) {
// Automatically generate a name for the world
if (mName == "") {
std::stringstream ss;
ss << "world";
if (mNbWorlds > 0) {
ss << mNbWorlds;
}
mName = ss.str();
}
#ifdef IS_PROFILING_ACTIVE
// Add a destination file for the profiling data
mProfiler.addFileDestination("rp3d_profiling_" + mName + ".txt", Profiler::Format::Text);
// Set the profiler
mCollisionDetection.setProfiler(&mProfiler);
#endif
#ifdef IS_LOGGING_ACTIVE
// Add a log destination file
uint logLevel = static_cast<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) {
bodyID = mFreeBodiesIDs[mFreeBodiesIDs.size() - 1];
mFreeBodiesIDs.removeAt(mFreeBodiesIDs.size() - 1);
if (mFreeBodiesIds.size() != 0) {
bodyID = mFreeBodiesIds[mFreeBodiesIds.size() - 1];
mFreeBodiesIds.removeAt(mFreeBodiesIds.size() - 1);
}
else {
bodyID = mCurrentBodyID;
mCurrentBodyID++;
bodyID = mCurrentBodyId;
mCurrentBodyId++;
}
return bodyID;

64
src/engine/CollisionWorld.h
View File

@ -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
bodyindex mCurrentBodyID;
/// Current body id
bodyindex mCurrentBodyId;
/// List of free ID for rigid bodies
List<luint> mFreeBodiesIDs;
/// List of free ids for rigid bodies
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
bodyindex computeNextAvailableBodyID();
/// Return the next available body id
bodyindex computeNextAvailableBodyId();
/// Reset all the contact manifolds linked list of each body
void resetContactManifoldListsOfBodies();
@ -99,7 +112,7 @@ class CollisionWorld {
// -------------------- Methods -------------------- //
/// Constructor
CollisionWorld(const WorldSettings& worldSettings = WorldSettings());
CollisionWorld(const std::string& name = "", const WorldSettings& worldSettings = WorldSettings());
/// Destructor
virtual ~CollisionWorld();
@ -147,13 +160,24 @@ class CollisionWorld {
#ifdef IS_PROFILING_ACTIVE
/// Set the name of the profiler
void setProfilerName(std::string name);
/// Return a reference to the profiler
Profiler& getProfiler();
#endif
#ifdef IS_LOGGING_ACTIVE
/// Return a reference to the logger
Logger& getLogger();
#endif
/// Return the current world-space AABB of given proxy shape
AABB getWorldAABB(const ProxyShape* proxyShape) const;
/// Return the name of the world
const std::string& getName() const;
// -------------------- Friendship -------------------- //
friend class CollisionDetection;
@ -224,11 +248,25 @@ inline void CollisionWorld::testOverlap(CollisionBody* body, OverlapCallback* ov
mCollisionDetection.testOverlap(body, overlapCallback, categoryMaskBits);
}
// Return the name of the world
inline const std::string& CollisionWorld::getName() const {
return mName;
}
#ifdef IS_PROFILING_ACTIVE
// Set the name of the profiler
inline void CollisionWorld::setProfilerName(std::string name) {
mProfiler.setName(name);
// Return a reference to the profiler
inline Profiler& CollisionWorld::getProfiler() {
return mProfiler;
}
#endif
#ifdef IS_LOGGING_ACTIVE
// Return a reference to the logger
inline Logger& CollisionWorld::getLogger() {
return mLogger;
}
#endif

8
src/engine/ConstraintSolver.cpp
View File

@ -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);

14
src/engine/ContactSolver.cpp
View File

@ -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));

94
src/engine/DynamicsWorld.cpp
View File

@ -39,8 +39,8 @@ using namespace std;
/**
* @param gravity Gravity vector in the world (in meters per second squared)
*/
DynamicsWorld::DynamicsWorld(const Vector3 &gravity, const WorldSettings& worldSettings)
: CollisionWorld(worldSettings),
DynamicsWorld::DynamicsWorld(const Vector3& gravity, const string& name, const WorldSettings& worldSettings)
: CollisionWorld(name, worldSettings),
mContactSolver(mMemoryManager, mConfig),
mNbVelocitySolverIterations(mConfig.defaultVelocitySolverNbIterations),
mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations),
@ -52,7 +52,8 @@ DynamicsWorld::DynamicsWorld(const Vector3 &gravity, const WorldSettings& worldS
mConstrainedOrientations(nullptr), mNbIslands(0), mIslands(nullptr),
mSleepLinearVelocity(mConfig.defaultSleepLinearVelocity),
mSleepAngularVelocity(mConfig.defaultSleepAngularVelocity),
mTimeBeforeSleep(mConfig.defaultTimeBeforeSleep) {
mTimeBeforeSleep(mConfig.defaultTimeBeforeSleep),
mFreeJointsIDs(mMemoryManager.getPoolAllocator()), mCurrentJointId(0) {
#ifdef IS_PROFILING_ACTIVE
@ -62,6 +63,9 @@ DynamicsWorld::DynamicsWorld(const Vector3 &gravity, const WorldSettings& worldS
#endif
RP3D_LOG(mLogger, Logger::Level::Info, Logger::Category::World,
"Dynamics world " + mName + " has been created");
}
// Destructor
@ -82,13 +86,12 @@ DynamicsWorld::~DynamicsWorld() {
#ifdef IS_PROFILING_ACTIVE
// Print the profiling report
ofstream myfile;
myfile.open(mProfiler.getName() + ".txt");
mProfiler.printReport(myfile);
myfile.close();
// Print the profiling report into the destinations
mProfiler.printReport();
#endif
RP3D_LOG(mLogger, Logger::Level::Info, Logger::Category::World,
"Dynamics world " + mName + " has been destroyed");
}
// Update the physics simulation
@ -102,7 +105,7 @@ void DynamicsWorld::update(decimal timeStep) {
mProfiler.incrementFrameCounter();
#endif
PROFILE("DynamicsWorld::update()", &mProfiler);
RP3D_PROFILE("DynamicsWorld::update()", &mProfiler);
mTimeStep = timeStep;
@ -150,7 +153,7 @@ void DynamicsWorld::update(decimal timeStep) {
/// the sympletic Euler time stepping scheme.
void DynamicsWorld::integrateRigidBodiesPositions() {
PROFILE("DynamicsWorld::integrateRigidBodiesPositions()", &mProfiler);
RP3D_PROFILE("DynamicsWorld::integrateRigidBodiesPositions()", &mProfiler);
// For each island of the world
for (uint i=0; i < mNbIslands; i++) {
@ -189,7 +192,7 @@ void DynamicsWorld::integrateRigidBodiesPositions() {
// Update the postion/orientation of the bodies
void DynamicsWorld::updateBodiesState() {
PROFILE("DynamicsWorld::updateBodiesState()", &mProfiler);
RP3D_PROFILE("DynamicsWorld::updateBodiesState()", &mProfiler);
// For each island of the world
for (uint islandIndex = 0; islandIndex < mNbIslands; islandIndex++) {
@ -226,7 +229,7 @@ void DynamicsWorld::updateBodiesState() {
// Initialize the bodies velocities arrays for the next simulation step.
void DynamicsWorld::initVelocityArrays() {
PROFILE("DynamicsWorld::initVelocityArrays()", &mProfiler);
RP3D_PROFILE("DynamicsWorld::initVelocityArrays()", &mProfiler);
// Allocate memory for the bodies velocity arrays
uint nbBodies = mRigidBodies.size();
@ -268,7 +271,7 @@ void DynamicsWorld::initVelocityArrays() {
/// contact solver.
void DynamicsWorld::integrateRigidBodiesVelocities() {
PROFILE("DynamicsWorld::integrateRigidBodiesVelocities()", &mProfiler);
RP3D_PROFILE("DynamicsWorld::integrateRigidBodiesVelocities()", &mProfiler);
// Initialize the bodies velocity arrays
initVelocityArrays();
@ -330,7 +333,7 @@ void DynamicsWorld::integrateRigidBodiesVelocities() {
// Solve the contacts and constraints
void DynamicsWorld::solveContactsAndConstraints() {
PROFILE("DynamicsWorld::solveContactsAndConstraints()", &mProfiler);
RP3D_PROFILE("DynamicsWorld::solveContactsAndConstraints()", &mProfiler);
// Set the velocities arrays
mContactSolver.setSplitVelocitiesArrays(mSplitLinearVelocities, mSplitAngularVelocities);
@ -380,7 +383,7 @@ void DynamicsWorld::solveContactsAndConstraints() {
// Solve the position error correction of the constraints
void DynamicsWorld::solvePositionCorrection() {
PROFILE("DynamicsWorld::solvePositionCorrection()", &mProfiler);
RP3D_PROFILE("DynamicsWorld::solvePositionCorrection()", &mProfiler);
// Do not continue if there is no constraints
if (mJoints.size() == 0) return;
@ -407,7 +410,7 @@ void DynamicsWorld::solvePositionCorrection() {
RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) {
// Compute the body ID
bodyindex bodyID = computeNextAvailableBodyID();
bodyindex bodyID = computeNextAvailableBodyId();
// Largest index cannot be used (it is used for invalid index)
assert(bodyID < std::numeric_limits<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

33
src/engine/DynamicsWorld.h
View File

@ -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.

6
src/engine/OverlappingPair.h
View File

@ -263,9 +263,9 @@ inline bodyindexpair OverlappingPair::computeBodiesIndexPair(CollisionBody* body
CollisionBody* body2) {
// Construct the pair of body index
bodyindexpair indexPair = body1->getID() < body2->getID() ?
bodyindexpair(body1->getID(), body2->getID()) :
bodyindexpair(body2->getID(), body1->getID());
bodyindexpair indexPair = body1->getId() < body2->getId() ?
bodyindexpair(body1->getId(), body2->getId()) :
bodyindexpair(body2->getId(), body1->getId());
assert(indexPair.first != indexPair.second);
return indexPair;
}

10
src/mathematics/Matrix2x2.h
View File

@ -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

11
src/mathematics/Matrix3x3.h
View File

@ -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

9
src/mathematics/Quaternion.h
View File

@ -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

8
src/mathematics/Transform.h
View File

@ -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

9
src/mathematics/Vector2.h
View File

@ -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);

9
src/mathematics/Vector3.h
View File

@ -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);

102
src/utils/Logger.cpp Normal file
View File

@ -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

332
src/utils/Logger.h Normal file
View File

@ -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

74
src/engine/Profiler.cpp → src/utils/Profiler.cpp
View File

@ -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) {
// Set the name of the profiler
if (name == "") {
if (mNbProfilers == 0) {
mName = "profiler";
}
else {
mName = std::string("profiler") + std::to_string(mNbProfilers);
}
}
else {
mName = name;
}
Profiler::Profiler() :mRootNode("Root", nullptr), mDestinations(MemoryManager::getBaseAllocator()) {
mCurrentNode = &mRootNode;
mProfilingStartTime = Timer::getCurrentSystemTime() * 1000.0;
mProfilingStartTime = Timer::getCurrentSystemTime() * 1000.0L;
mFrameCounter = 0;
mNbProfilers++;
}
// Destructor
@ -213,18 +195,48 @@ void Profiler::reset() {
mRootNode.reset();
mRootNode.enterBlockOfCode();
mFrameCounter = 0;
mProfilingStartTime = Timer::getCurrentSystemTime() * 1000.0;
mProfilingStartTime = Timer::getCurrentSystemTime() * 1000.0L;
}
// Print the report of the profiler in a given output stream
void Profiler::printReport(std::ostream& outputStream) {
void Profiler::printReport() {
// For each destination
for (auto it = mDestinations.begin(); it != mDestinations.end(); ++it) {
ProfileNodeIterator* iterator = Profiler::getIterator();
// Recursively print the report of each node of the profiler tree
printRecursiveNodeReport(iterator, 0, outputStream);
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;

147
src/engine/Profiler.h → src/utils/Profiler.h
View File

@ -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
void printReport(std::ostream& outputStream);
// Add a file destination to the profiler
void addFileDestination(const std::string& filePath, Format format);
// Add a stream destination to the profiler
void addStreamDestination(std::ostream& outputStream, Format format);
/// Remove all logs destination previously set
void removeAllDestinations();
/// Print the report of the profiler in every output destinations
void printReport();
};
// Class ProfileSample
@ -287,7 +382,7 @@ class ProfileSample {
};
// Use this macro to start profile a block of code
#define PROFILE(name, profiler) ProfileSample profileSample(name, profiler)
#define RP3D_PROFILE(name, profiler) ProfileSample profileSample(name, profiler)
// Return true if we are at the root of the profiler tree
inline bool ProfileNodeIterator::isRoot() {
@ -374,19 +469,9 @@ inline uint Profiler::getNbFrames() {
return mFrameCounter;
}
// Get the name of the profiler
inline std::string Profiler::getName() const {
return mName;
}
// Set the name of the profiler
inline void Profiler::setName(std::string name) {
mName = name;
}
// Return the elasped time since the start/reset of the profiling
inline long double Profiler::getElapsedTimeSinceStart() {
long double currentTime = Timer::getCurrentSystemTime() * 1000.0;
long double currentTime = Timer::getCurrentSystemTime() * 1000.0L;
return currentTime - mProfilingStartTime;
}
@ -412,10 +497,10 @@ inline void Profiler::destroy() {
}
#else // In profile is not active
#else // If profile is not active
// Empty macro in case profiling is not active
#define PROFILE(name, profiler)
#define RP3D_PROFILE(name, profiler)
#endif

160
test/tests/collision/TestCollisionWorld.h
View File

@ -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,

3
test/tests/collision/TestRaycast.h
View File

@ -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);

8
testbed/scenes/collisiondetection/CollisionDetectionScene.cpp
View File

@ -47,13 +47,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
setScenePosition(center, SCENE_RADIUS);
// Create the dynamics world for the physics simulation
mPhysicsWorld = new rp3d::CollisionWorld();
#ifdef IS_PROFILING_ACTIVE
mPhysicsWorld->setProfilerName(name + "_profiler");
#endif
mPhysicsWorld = new rp3d::CollisionWorld(name);
// ---------- Sphere 1 ---------- //

9
testbed/scenes/collisionshapes/CollisionShapesScene.cpp
View File

@ -46,14 +46,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
rp3d::Vector3 gravity(0, -9.81f, 0);
// Create the dynamics world for the physics simulation
mPhysicsWorld = new rp3d::DynamicsWorld(gravity);
#ifdef IS_PROFILING_ACTIVE
mPhysicsWorld->setProfilerName(name + "_profiler");
#endif
mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name);
for (int i=0; i<NB_COMPOUND_SHAPES; i++) {

8
testbed/scenes/concavemesh/ConcaveMeshScene.cpp
View File

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

8
testbed/scenes/cubes/CubesScene.cpp
View File

@ -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);
#ifdef IS_PROFILING_ACTIVE
mPhysicsWorld->setProfilerName(name + "_profiler");
#endif
mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name);
// Create all the cubes of the scene
for (int i=0; i<NB_CUBES; i++) {

8
testbed/scenes/cubestack/CubeStackScene.cpp
View File

@ -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);
#ifdef IS_PROFILING_ACTIVE
mPhysicsWorld->setProfilerName(name + "_profiler");
#endif
mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name);
// Create all the cubes of the scene
for (int i=1; i<=NB_FLOORS; i++) {

9
testbed/scenes/heightfield/HeightFieldScene.cpp
View File

@ -46,14 +46,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
// Create the dynamics world for the physics simulation
mPhysicsWorld = new rp3d::DynamicsWorld(gravity);
#ifdef IS_PROFILING_ACTIVE
mPhysicsWorld->setProfilerName(name + "_profiler");
#endif
mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name);
for (int i = 0; i<NB_COMPOUND_SHAPES; i++) {

8
testbed/scenes/joints/JointsScene.cpp
View File

@ -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);
#ifdef IS_PROFILING_ACTIVE
mPhysicsWorld->setProfilerName(name + "_profiler");
#endif
mPhysicsWorld = new rp3d::DynamicsWorld(gravity, name);
// Create the Ball-and-Socket joint
createBallAndSocketJoints();

8
testbed/scenes/raycast/RaycastScene.cpp
View File

@ -45,13 +45,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
setScenePosition(center, SCENE_RADIUS);
// Create the dynamics world for the physics simulation
mPhysicsWorld = new rp3d::CollisionWorld();
#ifdef IS_PROFILING_ACTIVE
mPhysicsWorld->setProfilerName(name + "_profiler");
#endif
mPhysicsWorld = new rp3d::CollisionWorld(name);
// ---------- Dumbbell ---------- //