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Refactor the way to create a logger and a profiler

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This commit is contained in:
Daniel Chappuis 2020-05-11 11:13:26 +02:00
parent ee0203a343
commit 3df602edfa
24 changed files with 310 additions and 366 deletions

21
include/reactphysics3d/body/CollisionBody.h
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@ -62,12 +62,6 @@ class CollisionBody {
/// Reference to the world the body belongs to
PhysicsWorld& mWorld;
#ifdef IS_LOGGING_ACTIVE
/// Logger
Logger* mLogger;
#endif
#ifdef IS_PROFILING_ACTIVE
/// Pointer to the profiler
@ -163,12 +157,6 @@ class CollisionBody {
/// Return the body local-space coordinates of a vector given in the world-space coordinates
Vector3 getLocalVector(const Vector3& worldVector) const;
#ifdef IS_LOGGING_ACTIVE
/// Set the logger
void setLogger(Logger* logger);
#endif
#ifdef IS_PROFILING_ACTIVE
/// Set the profiler
@ -202,15 +190,6 @@ inline Entity CollisionBody::getEntity() const {
return mEntity;
}
#ifdef IS_LOGGING_ACTIVE
// Set the logger
inline void CollisionBody::setLogger(Logger* logger) {
mLogger = logger;
}
#endif
#ifdef IS_PROFILING_ACTIVE
// Set the profiler

38
include/reactphysics3d/collision/Collider.h
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@ -72,12 +72,6 @@ class Collider {
#endif
#ifdef IS_LOGGING_ACTIVE
/// Logger
Logger* mLogger;
#endif
// -------------------- Methods -------------------- //
/// Notify the collider that the size of the collision shape has been
@ -173,12 +167,6 @@ class Collider {
#endif
#ifdef IS_LOGGING_ACTIVE
/// Set the logger
void setLogger(Logger* logger);
#endif
// -------------------- Friendship -------------------- //
friend class OverlappingPair;
@ -245,32 +233,6 @@ inline Material& Collider::getMaterial() {
return mMaterial;
}
// Set a new material for this rigid body
/**
* @param material The material you want to set to the body
*/
inline void Collider::setMaterial(const Material& material) {
mMaterial = material;
#ifdef IS_LOGGING_ACTIVE
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider,
"Collider " + std::to_string(mEntity.id) + ": Set Material" + mMaterial.to_string(), __FILE__, __LINE__);
#endif
}
#ifdef IS_LOGGING_ACTIVE
// Set the logger
inline void Collider::setLogger(Logger* logger) {
mLogger = logger;
}
#endif
}
#endif

58
include/reactphysics3d/engine/PhysicsCommon.h
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@ -83,21 +83,31 @@ class PhysicsCommon {
/// Set of triangle meshes
Set<TriangleMesh*> mTriangleMeshes;
#ifdef IS_LOGGING_ACTIVE
/// Pointer to the current logger
static Logger* mLogger;
/// Set of loggers
Set<DefaultLogger*> mLoggers;
#endif
/// Set of loggers
/// Set of profilers
Set<Profiler*> mProfilers;
/// Set of default loggers
Set<DefaultLogger*> mDefaultLoggers;
// -------------------- Methods -------------------- //
/// Destroy and release everything that has been allocated
void release();
// If profiling is enabled
#ifdef IS_PROFILING_ACTIVE
/// Create and return a new profiler
Profiler* createProfiler();
/// Destroy a profiler
void destroyProfiler(Profiler* profiler);
#endif
public :
// -------------------- Methods -------------------- //
@ -115,8 +125,7 @@ class PhysicsCommon {
// the method parameters with the "@param" keyword for Doxygen
/// Create and return an instance of PhysicsWorld
PhysicsWorld* createPhysicsWorld(const PhysicsWorld::WorldSettings& worldSettings = PhysicsWorld::WorldSettings(),
Logger* logger = nullptr, Profiler* profiler = nullptr);
PhysicsWorld* createPhysicsWorld(const PhysicsWorld::WorldSettings& worldSettings = PhysicsWorld::WorldSettings());
/// Destroy an instance of PhysicsWorld
void destroyPhysicsWorld(PhysicsWorld* world);
@ -172,30 +181,33 @@ class PhysicsCommon {
/// Destroy a triangle mesh
void destroyTriangleMesh(TriangleMesh* triangleMesh);
// If logging is enabled
#ifdef IS_LOGGING_ACTIVE
/// Create and return a new default logger
DefaultLogger* createDefaultLogger();
/// Destroy a default logger
void destroyDefaultLogger(DefaultLogger* logger);
#endif
/// Return the current logger
static Logger* getLogger();
// If profiling is enabled
#ifdef IS_PROFILING_ACTIVE
/// Create and return a new profiler
Profiler* createProfiler();
/// Destroy a profiler
void destroyProfiler(Profiler* profiler);
#endif
/// Set the logger
static void setLogger(Logger* logger);
};
// Return the current logger
inline Logger* PhysicsCommon::getLogger() {
return mLogger;
}
// Set the logger
inline void PhysicsCommon::setLogger(Logger* logger) {
mLogger = logger;
}
// Use this macro to log something
#define RP3D_LOG(physicsWorldName, level, category, message, filename, lineNumber) if (reactphysics3d::PhysicsCommon::getLogger() != nullptr) PhysicsCommon::getLogger()->log(level, physicsWorldName, category, message, filename, lineNumber)
}
#endif

120
include/reactphysics3d/engine/PhysicsWorld.h
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@ -235,12 +235,6 @@ class PhysicsWorld {
Profiler* mProfiler;
#endif
#ifdef IS_LOGGING_ACTIVE
/// Logger
Logger* mLogger;
#endif
/// Total number of worlds
static uint mNbWorlds;
@ -287,8 +281,7 @@ class PhysicsWorld {
// -------------------- Methods -------------------- //
/// Constructor
PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& worldSettings = WorldSettings(),
Logger* logger = nullptr, Profiler* profiler = nullptr);
PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& worldSettings = WorldSettings(), Profiler* profiler = nullptr);
/// Notify the world if a body is disabled (slepping or inactive) or not
void setBodyDisabled(Entity entity, bool isDisabled);
@ -412,7 +405,7 @@ class PhysicsWorld {
bool isGravityEnabled() const;
/// Enable/Disable the gravity
void setIsGratityEnabled(bool isGravityEnabled);
void setIsGravityEnabled(bool isGravityEnabled);
/// Return true if the sleeping technique is enabled
bool isSleepingEnabled() const;
@ -473,13 +466,6 @@ class PhysicsWorld {
/// Return a reference to the profiler
Profiler* getProfiler();
#endif
#ifdef IS_LOGGING_ACTIVE
/// Return a reference to the logger
Logger* getLogger();
#endif
// -------------------- Friendship -------------------- //
@ -610,18 +596,6 @@ inline Profiler* PhysicsWorld::getProfiler() {
#endif
#ifdef IS_LOGGING_ACTIVE
// Return a pointer to the logger
/**
* @return A pointer to the logger
*/
inline Logger* PhysicsWorld::getLogger() {
return mLogger;
}
#endif
// Get the number of iterations for the velocity constraint solver
/**
* @return The number of iterations of the velocity constraint solver
@ -630,18 +604,6 @@ inline uint PhysicsWorld::getNbIterationsVelocitySolver() const {
return mNbVelocitySolverIterations;
}
// Set the number of iterations for the velocity constraint solver
/**
* @param nbIterations Number of iterations for the velocity solver
*/
inline void PhysicsWorld::setNbIterationsVelocitySolver(uint nbIterations) {
mNbVelocitySolverIterations = nbIterations;
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
"Physics World: Set nb iterations velocity solver to " + std::to_string(nbIterations), __FILE__, __LINE__);
}
// Get the number of iterations for the position constraint solver
/**
* @return The number of iterations of the position constraint solver
@ -650,18 +612,6 @@ inline uint PhysicsWorld::getNbIterationsPositionSolver() const {
return mNbPositionSolverIterations;
}
// Set the number of iterations for the position constraint solver
/**
* @param nbIterations Number of iterations for the position solver
*/
inline void PhysicsWorld::setNbIterationsPositionSolver(uint nbIterations) {
mNbPositionSolverIterations = nbIterations;
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
"Physics World: Set nb iterations position solver to " + std::to_string(nbIterations), __FILE__, __LINE__);
}
// Set the position correction technique used for contacts
/**
* @param technique Technique used for the position correction (Baumgarte or Split Impulses)
@ -698,18 +648,6 @@ inline Vector3 PhysicsWorld::getGravity() const {
return mConfig.gravity;
}
// Set the gravity vector of the world
/**
* @param gravity The gravity vector (in meter per seconds squared)
*/
inline void PhysicsWorld::setGravity(Vector3& gravity) {
mConfig.gravity = gravity;
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
"Physics World: Set gravity vector to " + gravity.to_string(), __FILE__, __LINE__);
}
// Return if the gravity is enaled
/**
* @return True if the gravity is enabled in the world
@ -718,18 +656,6 @@ inline bool PhysicsWorld::isGravityEnabled() const {
return mIsGravityEnabled;
}
// Enable/Disable the gravity
/**
* @param isGravityEnabled True if you want to enable the gravity in the world
* and false otherwise
*/
inline void PhysicsWorld::setIsGratityEnabled(bool isGravityEnabled) {
mIsGravityEnabled = isGravityEnabled;
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
"Physics World: isGravityEnabled= " + (isGravityEnabled ? std::string("true") : std::string("false")), __FILE__, __LINE__);
}
// Return true if the sleeping technique is enabled
/**
* @return True if the sleeping technique is enabled and false otherwise
@ -746,21 +672,6 @@ inline decimal PhysicsWorld::getSleepLinearVelocity() const {
return mSleepLinearVelocity;
}
// Set the sleep linear velocity.
/// When the velocity of a body becomes smaller than the sleep linear/angular
/// velocity for a given amount of time, the body starts sleeping and does not need
/// to be simulated anymore.
/**
* @param sleepLinearVelocity The sleep linear velocity (in meters per second)
*/
inline void PhysicsWorld::setSleepLinearVelocity(decimal sleepLinearVelocity) {
assert(sleepLinearVelocity >= decimal(0.0));
mSleepLinearVelocity = sleepLinearVelocity;
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
"Physics World: sleepLinearVelocity= " + std::to_string(sleepLinearVelocity), __FILE__, __LINE__);
}
// Return the current sleep angular velocity
/**
* @return The sleep angular velocity (in radian per second)
@ -769,21 +680,6 @@ inline decimal PhysicsWorld::getSleepAngularVelocity() const {
return mSleepAngularVelocity;
}
// Set the sleep angular velocity.
/// When the velocity of a body becomes smaller than the sleep linear/angular
/// velocity for a given amount of time, the body starts sleeping and does not need
/// to be simulated anymore.
/**
* @param sleepAngularVelocity The sleep angular velocity (in radian per second)
*/
inline void PhysicsWorld::setSleepAngularVelocity(decimal sleepAngularVelocity) {
assert(sleepAngularVelocity >= decimal(0.0));
mSleepAngularVelocity = sleepAngularVelocity;
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
"Physics World: sleepAngularVelocity= " + std::to_string(sleepAngularVelocity), __FILE__, __LINE__);
}
// Return the time a body is required to stay still before sleeping
/**
* @return Time a body is required to stay still before sleeping (in seconds)
@ -792,18 +688,6 @@ inline decimal PhysicsWorld::getTimeBeforeSleep() const {
return mTimeBeforeSleep;
}
// Set the time a body is required to stay still before sleeping
/**
* @param timeBeforeSleep Time a body is required to stay still before sleeping (in seconds)
*/
inline void PhysicsWorld::setTimeBeforeSleep(decimal timeBeforeSleep) {
assert(timeBeforeSleep >= decimal(0.0));
mTimeBeforeSleep = timeBeforeSleep;
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
"Physics World: timeBeforeSleep= " + std::to_string(timeBeforeSleep), __FILE__, __LINE__);
}
// Set an event listener object to receive events callbacks.
/// If you use "nullptr" as an argument, the events callbacks will be disabled.
/**

37
include/reactphysics3d/utils/DefaultLogger.h
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@ -26,9 +26,6 @@
#ifndef REACTPHYSICS3D_DEFAULT_LOGGER_H
#define REACTPHYSICS3D_DEFAULT_LOGGER_H
// If logging is enabled
#ifdef IS_LOGGING_ACTIVE
// Libraries
#include <reactphysics3d/utils/Logger.h>
#include <reactphysics3d/containers/List.h>
@ -81,7 +78,7 @@ class DefaultLogger : public Logger {
}
/// Format a log message
virtual std::string format(const time_t& time, const std::string& message, Level level, Category category,
virtual std::string format(const time_t& time, const std::string& physicsWorldName, const std::string& message, Level level, Category category,
const char* filename, int lineNumber) = 0;
};
@ -116,13 +113,16 @@ class DefaultLogger : public Logger {
}
/// Format a log message
virtual std::string format(const time_t& time, const std::string& message,
virtual std::string format(const time_t& time, const std::string& physicsWorldName, const std::string& message,
Level level, Category category, const char* filename, int lineNumber) override {
std::stringstream ss;
// Time
ss << std::put_time(std::localtime(&time), "%X") << " ";
// World
ss << "World:" << physicsWorldName << std::endl;
// Level
ss << getLevelName(level) << " ";
@ -204,8 +204,12 @@ class DefaultLogger : public Logger {
"} "
".time { "
"margin-right: 20px; "
"width: 10%; "
"width: 5%; "
"} "
".world-name { "
"margin-right: 20px; "
"width: 5%; "
"}"
".level { "
"margin-right: 20px; "
"width: 10%; "
@ -266,7 +270,7 @@ class DefaultLogger : public Logger {
}
/// Format a log message
virtual std::string format(const time_t& time, const std::string& message, Level level,
virtual std::string format(const time_t& time, const std::string& physicsWorldName, const std::string& message, Level level,
Category category, const char* filename, int lineNumber) override {
std::stringstream ss;
@ -278,6 +282,11 @@ class DefaultLogger : public Logger {
ss << std::put_time(std::localtime(&time), "%X");
ss << "</div>";
// Message
ss << "<div class='world-name'>";
ss << physicsWorldName;
ss << "</div>";
// Level
ss << "<div class='level'>";
ss << getLevelName(level);
@ -329,7 +338,7 @@ class DefaultLogger : public Logger {
}
/// Write a message into the output stream
virtual void write(const time_t& time, const std::string& message, Level level, Category category, const char* filename, int lineNumber) = 0;
virtual void write(const time_t& time, const std::string& physicsWorldName, const std::string& message, Level level, Category category, const char* filename, int lineNumber) = 0;
/// Return the size in bytes of the type
virtual size_t getSizeBytes() const=0;
@ -373,11 +382,11 @@ class DefaultLogger : public Logger {
}
/// Write a message into the output stream
virtual void write(const time_t& time, const std::string& message, Level level, Category category,
virtual void write(const time_t& time, const std::string& physicsWorldName, const std::string& message, Level level, Category category,
const char* filename, int lineNumber) override {
if (static_cast<int>(level) <= static_cast<int>(maxLevelFlag)) {
mFileStream << formatter->format(time, message, level, category, filename, lineNumber) << std::endl << std::flush;
mFileStream << formatter->format(time, physicsWorldName, message, level, category, filename, lineNumber) << std::endl << std::flush;
}
}
@ -413,11 +422,11 @@ class DefaultLogger : public Logger {
}
/// Write a message into the output stream
virtual void write(const time_t& time, const std::string& message, Level level, Category category,
virtual void write(const time_t& time, const std::string& physicsWorldName, const std::string& message, Level level, Category category,
const char* filename, int lineNumber) override {
if (static_cast<int>(level) <= static_cast<int>(maxLevelFlag)) {
mOutputStream << formatter->format(time, message, level, category, filename, lineNumber) << std::endl << std::flush;
mOutputStream << formatter->format(time, physicsWorldName, message, level, category, filename, lineNumber) << std::endl << std::flush;
}
}
@ -469,7 +478,7 @@ class DefaultLogger : public Logger {
void removeAllDestinations();
/// Log something
virtual void log(Level level, Category category, const std::string& message, const char* filename, int lineNumber) override;
virtual void log(Level level, const std::string& physicsWorldName, Category category, const std::string& message, const char* filename, int lineNumber) override;
// ---------- Friendship ---------- //
@ -491,5 +500,3 @@ namespace std {
}
#endif
#endif

16
include/reactphysics3d/utils/Logger.h
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@ -26,9 +26,6 @@
#ifndef REACTPHYSICS3D_LOGGER_H
#define REACTPHYSICS3D_LOGGER_H
// If logging is enabled
#ifdef IS_LOGGING_ACTIVE
// Libraries
#include <reactphysics3d/containers/List.h>
#include <reactphysics3d/containers/Map.h>
@ -91,7 +88,7 @@ class Logger {
virtual ~Logger() = default;
/// Log something
virtual void log(Level level, Category category, const std::string& message, const char* filename, int lineNumber)=0;
virtual void log(Level level, const std::string& physicsWorldName, Category category, const std::string& message, const char* filename, int lineNumber)=0;
// ---------- Friendship ---------- //
@ -100,15 +97,4 @@ class Logger {
}
// Use this macro to log something
#define RP3D_LOG(logger, level, category, message, filename, lineNumber) logger->log(level, category, message, filename, lineNumber)
// If the logging is not enabled
#else
// Empty macro in case logs are not enabled
#define RP3D_LOG(logger, level, category, message, filename, lineNumber)
#endif
#endif

9
include/reactphysics3d/utils/Profiler.h
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@ -310,16 +310,17 @@ class Profiler {
/// Destroy the profiler (release the memory)
void destroy();
public :
// -------------------- Methods -------------------- //
/// Constructor
Profiler();
/// Destructor
~Profiler();
public :
// -------------------- Methods -------------------- //
/// Method called when we want to start profiling a block of code.
void startProfilingBlock(const char *name);

22
src/body/CollisionBody.cpp
View File

@ -25,6 +25,7 @@
// Libraries
#include <reactphysics3d/body/CollisionBody.h>
#include <reactphysics3d/engine/PhysicsCommon.h>
#include <reactphysics3d/engine/PhysicsWorld.h>
#include <reactphysics3d/collision/ContactManifold.h>
#include <reactphysics3d/collision/RaycastInfo.h>
@ -42,10 +43,6 @@ using namespace reactphysics3d;
CollisionBody::CollisionBody(PhysicsWorld& world, Entity entity)
: mEntity(entity), mWorld(world) {
#ifdef IS_LOGGING_ACTIVE
mLogger = nullptr;
#endif
#ifdef IS_PROFILING_ACTIVE
mProfiler = nullptr;
#endif
@ -100,13 +97,6 @@ Collider* CollisionBody::addCollider(CollisionShape* collisionShape, const Trans
// Set the profiler
collider->setProfiler(mProfiler);
#endif
#ifdef IS_LOGGING_ACTIVE
// Set the logger
collider->setLogger(mLogger);
#endif
// Compute the world-space AABB of the new collision shape
@ -116,10 +106,10 @@ Collider* CollisionBody::addCollider(CollisionShape* collisionShape, const Trans
// Notify the collision detection about this new collision shape
mWorld.mCollisionDetection.addCollider(collider, aabb);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Collider " + std::to_string(collider->getBroadPhaseId()) + " added to body", __FILE__, __LINE__);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Collider,
"Collider " + std::to_string(collider->getBroadPhaseId()) + ": collisionShape=" +
collider->getCollisionShape()->to_string(), __FILE__, __LINE__);
@ -170,7 +160,7 @@ Collider* CollisionBody::getCollider(uint colliderIndex) {
*/
void CollisionBody::removeCollider(Collider* collider) {
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Collider " + std::to_string(collider->getBroadPhaseId()) + " removed from body", __FILE__, __LINE__);
// Remove the collider from the broad-phase
@ -281,7 +271,7 @@ void CollisionBody::setIsActive(bool isActive) {
}
}
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Set isActive=" +
(isActive ? "true" : "false"), __FILE__, __LINE__);
}
@ -398,7 +388,7 @@ void CollisionBody::setTransform(const Transform& transform) {
// Update the broad-phase state of the body
updateBroadPhaseState(0);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Set transform=" + transform.to_string(), __FILE__, __LINE__);
}

52
src/body/RigidBody.cpp
View File

@ -25,6 +25,7 @@
// Libraries
#include <reactphysics3d/body/RigidBody.h>
#include <reactphysics3d/engine/PhysicsCommon.h>
#include <reactphysics3d/collision/shapes/CollisionShape.h>
#include <reactphysics3d/engine/PhysicsWorld.h>
#include <reactphysics3d/utils/Profiler.h>
@ -114,7 +115,7 @@ void RigidBody::setType(BodyType type) {
mWorld.mRigidBodyComponents.setExternalForce(mEntity, Vector3::zero());
mWorld.mRigidBodyComponents.setExternalTorque(mEntity, Vector3::zero());
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Set type=" +
(type == BodyType::STATIC ? "Static" : (type == BodyType::DYNAMIC ? "Dynamic" : "Kinematic")), __FILE__, __LINE__);
}
@ -212,7 +213,7 @@ void RigidBody::setLocalInertiaTensor(const Vector3& inertiaTensorLocal) {
inertiaTensorLocal.z != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.z : 0);
mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inverseInertiaTensorLocal);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string(), __FILE__, __LINE__);
}
@ -275,7 +276,7 @@ void RigidBody::setLocalCenterOfMass(const Vector3& centerOfMass) {
linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMass);
mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Set centerOfMassLocal=" + centerOfMass.to_string(), __FILE__, __LINE__);
}
@ -308,7 +309,7 @@ void RigidBody::updateLocalCenterOfMassFromColliders() {
linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMassWorld);
mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Set centerOfMassLocal=" + centerOfMassLocal.to_string(), __FILE__, __LINE__);
}
@ -415,7 +416,7 @@ void RigidBody::updateLocalInertiaTensorFromColliders() {
inertiaTensorLocal.z != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.z : 0);
mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inverseInertiaTensorLocal);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string(), __FILE__, __LINE__);
}
@ -451,7 +452,7 @@ void RigidBody::updateMassFromColliders() {
mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0));
}
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Set mass=" + std::to_string(totalMass), __FILE__, __LINE__);
}
@ -481,7 +482,7 @@ void RigidBody::updateMassPropertiesFromColliders() {
linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMassWorld);
mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Set centerOfMassLocal=" + centerOfMassLocal.to_string(), __FILE__, __LINE__);
// Compute the mass and local-space inertia tensor
@ -497,7 +498,7 @@ void RigidBody::updateMassPropertiesFromColliders() {
inertiaTensorLocal.z != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.z : 0);
mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inverseInertiaTensorLocal);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string(), __FILE__, __LINE__);
// Set the mass
@ -511,7 +512,7 @@ void RigidBody::updateMassPropertiesFromColliders() {
mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0));
}
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Set mass=" + std::to_string(totalMass), __FILE__, __LINE__);
}
@ -534,12 +535,12 @@ void RigidBody::setMass(decimal mass) {
if (mWorld.mRigidBodyComponents.getMass(mEntity) < decimal(0.0)) {
RP3D_LOG(mLogger, Logger::Level::Error, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Error, Logger::Category::Body,
"Error when setting mass of body " + std::to_string(mEntity.id) + ": mass cannot be negative", __FILE__, __LINE__);
}
}
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Set mass=" + std::to_string(mass), __FILE__, __LINE__);
}
@ -586,13 +587,6 @@ Collider* RigidBody::addCollider(CollisionShape* collisionShape, const Transform
// Set the profiler
collider->setProfiler(mProfiler);
#endif
#ifdef IS_LOGGING_ACTIVE
// Set the logger
collider->setLogger(mLogger);
#endif
// Compute the world-space AABB of the new collision shape
@ -602,10 +596,10 @@ Collider* RigidBody::addCollider(CollisionShape* collisionShape, const Transform
// Notify the collision detection about this new collision shape
mWorld.mCollisionDetection.addCollider(collider, aabb);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Collider " + std::to_string(collider->getBroadPhaseId()) + " added to body", __FILE__, __LINE__);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Collider,
"Collider " + std::to_string(collider->getBroadPhaseId()) + ": collisionShape=" +
collider->getCollisionShape()->to_string(), __FILE__, __LINE__);
@ -631,7 +625,7 @@ void RigidBody::removeCollider(Collider* collider) {
void RigidBody::enableGravity(bool isEnabled) {
mWorld.mRigidBodyComponents.setIsGravityEnabled(mEntity, isEnabled);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Set isGravityEnabled=" +
(isEnabled ? "true" : "false"), __FILE__, __LINE__);
}
@ -648,12 +642,12 @@ void RigidBody::setLinearDamping(decimal linearDamping) {
mWorld.mRigidBodyComponents.setLinearDamping(mEntity, linearDamping);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Set linearDamping=" + std::to_string(linearDamping), __FILE__, __LINE__);
}
else {
RP3D_LOG(mLogger, Logger::Level::Error, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Error, Logger::Category::Body,
"Error when setting the linear damping of body " + std::to_string(mEntity.id) + ": linear damping cannot be negative", __FILE__, __LINE__);
}
}
@ -670,11 +664,11 @@ void RigidBody::setAngularDamping(decimal angularDamping) {
mWorld.mRigidBodyComponents.setAngularDamping(mEntity, angularDamping);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Set angularDamping=" + std::to_string(angularDamping), __FILE__, __LINE__);
}
else {
RP3D_LOG(mLogger, Logger::Level::Error, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Error, Logger::Category::Body,
"Error when setting the angular damping of body " + std::to_string(mEntity.id) + ": angular damping cannot be negative", __FILE__, __LINE__);
}
}
@ -696,7 +690,7 @@ void RigidBody::setLinearVelocity(const Vector3& linearVelocity) {
setIsSleeping(false);
}
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Set linearVelocity=" + linearVelocity.to_string(), __FILE__, __LINE__);
}
@ -717,7 +711,7 @@ void RigidBody::setAngularVelocity(const Vector3& angularVelocity) {
setIsSleeping(false);
}
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Set angularVelocity=" + angularVelocity.to_string(), __FILE__, __LINE__);
}
@ -832,7 +826,7 @@ void RigidBody::setIsSleeping(bool isSleeping) {
mWorld.mRigidBodyComponents.setExternalTorque(mEntity, Vector3::zero());
}
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Set isSleeping=" +
(isSleeping ? "true" : "false"), __FILE__, __LINE__);
}
@ -876,7 +870,7 @@ void RigidBody::setIsAllowedToSleep(bool isAllowedToSleep) {
if (!isAllowedToSleep) setIsSleeping(false);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Set isAllowedToSleep=" +
(isAllowedToSleep ? "true" : "false"), __FILE__, __LINE__);
}

19
src/collision/Collider.cpp
View File

@ -29,6 +29,7 @@
#include <reactphysics3d/collision/RaycastInfo.h>
#include <reactphysics3d/memory/MemoryManager.h>
#include <reactphysics3d/engine/PhysicsWorld.h>
#include <reactphysics3d/engine/PhysicsCommon.h>
using namespace reactphysics3d;
@ -78,7 +79,7 @@ void Collider::setCollisionCategoryBits(unsigned short collisionCategoryBits) {
int broadPhaseId = mBody->mWorld.mCollidersComponents.getBroadPhaseId(mEntity);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider,
RP3D_LOG(mBody->mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Collider,
"Collider " + std::to_string(broadPhaseId) + ": Set collisionCategoryBits=" +
std::to_string(collisionCategoryBits), __FILE__, __LINE__);
}
@ -97,7 +98,7 @@ void Collider::setCollideWithMaskBits(unsigned short collideWithMaskBits) {
int broadPhaseId = mBody->mWorld.mCollidersComponents.getBroadPhaseId(mEntity);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider,
RP3D_LOG(mBody->mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Collider,
"Collider" + std::to_string(broadPhaseId) + ": Set collideWithMaskBits=" +
std::to_string(collideWithMaskBits), __FILE__, __LINE__);
}
@ -118,7 +119,7 @@ void Collider::setLocalToBodyTransform(const Transform& transform) {
mBody->mWorld.mCollisionDetection.updateCollider(mEntity, 0);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider,
RP3D_LOG(mBody->mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Collider,
"Collider " + std::to_string(getBroadPhaseId()) + ": Set localToBodyTransform=" +
transform.to_string(), __FILE__, __LINE__);
}
@ -215,6 +216,18 @@ void Collider::setHasCollisionShapeChangedSize(bool hasCollisionShapeChangedSize
mBody->mWorld.mCollidersComponents.setHasCollisionShapeChangedSize(mEntity, hasCollisionShapeChangedSize);
}
// Set a new material for this rigid body
/**
* @param material The material you want to set to the body
*/
void Collider::setMaterial(const Material& material) {
mMaterial = material;
RP3D_LOG(mBody->mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Collider,
"Collider " + std::to_string(mEntity.id) + ": Set Material" + mMaterial.to_string(), __FILE__, __LINE__);
}
// Return the local to world transform
/**
* @return The transformation that transforms the local-space of the collision

59
src/engine/PhysicsCommon.cpp
View File

@ -28,6 +28,9 @@
using namespace reactphysics3d;
// Static variables
Logger* PhysicsCommon::mLogger = nullptr;
/// Constructor
PhysicsCommon::PhysicsCommon(MemoryAllocator* baseMemoryAllocator)
: mMemoryManager(baseMemoryAllocator),
@ -36,10 +39,7 @@ PhysicsCommon::PhysicsCommon(MemoryAllocator* baseMemoryAllocator)
mConvexMeshShapes(mMemoryManager.getHeapAllocator()), mConcaveMeshShapes(mMemoryManager.getHeapAllocator()),
mHeightFieldShapes(mMemoryManager.getHeapAllocator()), mPolyhedronMeshes(mMemoryManager.getHeapAllocator()),
mTriangleMeshes(mMemoryManager.getHeapAllocator()),
#ifdef IS_LOGGING_ACTIVE
mLoggers(mMemoryManager.getHeapAllocator()),
#endif
mProfilers(mMemoryManager.getHeapAllocator()) {
mProfilers(mMemoryManager.getHeapAllocator()), mDefaultLoggers(mMemoryManager.getHeapAllocator()) {
}
@ -98,16 +98,11 @@ void PhysicsCommon::release() {
destroyTriangleMesh(*it);
}
// If logging is enabled
#ifdef IS_LOGGING_ACTIVE
// Destroy the loggers
for (auto it = mLoggers.begin(); it != mLoggers.end(); ++it) {
// Destroy the default loggers
for (auto it = mDefaultLoggers.begin(); it != mDefaultLoggers.end(); ++it) {
destroyDefaultLogger(*it);
}
#endif
// If profiling is enabled
#ifdef IS_PROFILING_ACTIVE
@ -121,39 +116,20 @@ void PhysicsCommon::release() {
}
// Create and return an instance of PhysicsWorld
PhysicsWorld* PhysicsCommon::createPhysicsWorld(const PhysicsWorld::WorldSettings& worldSettings, Logger* logger, Profiler* profiler) {
PhysicsWorld* PhysicsCommon::createPhysicsWorld(const PhysicsWorld::WorldSettings& worldSettings) {
Profiler* profiler = nullptr;
#ifdef IS_PROFILING_ACTIVE
// If the user has not provided its own profiler, we create one
if (profiler == nullptr) {
profiler = createProfiler();
profiler = createProfiler();
// Add a destination file for the profiling data
profiler->addFileDestination("rp3d_profiling_" + worldSettings.worldName + ".txt", Profiler::Format::Text);
}
// Add a destination file for the profiling data
profiler->addFileDestination("rp3d_profiling_" + worldSettings.worldName + ".txt", Profiler::Format::Text);
#endif
#ifdef IS_LOGGING_ACTIVE
// If the user has not provided its own logger, we create one
if (logger == nullptr) {
DefaultLogger* defaultLogger = createDefaultLogger();
// Add a log destination file
uint logLevel = static_cast<uint>(Logger::Level::Information) | static_cast<uint>(Logger::Level::Warning) |
static_cast<uint>(Logger::Level::Error);
defaultLogger->addFileDestination("rp3d_log_" + worldSettings.worldName + ".html", logLevel, DefaultLogger::Format::HTML);
logger = defaultLogger;
}
#endif
PhysicsWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Heap, sizeof(PhysicsWorld))) PhysicsWorld(mMemoryManager, worldSettings, logger, profiler);
PhysicsWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Heap, sizeof(PhysicsWorld))) PhysicsWorld(mMemoryManager, worldSettings, profiler);
mPhysicsWorlds.add(world);
@ -374,15 +350,12 @@ void PhysicsCommon::destroyTriangleMesh(TriangleMesh* triangleMesh) {
mTriangleMeshes.remove(triangleMesh);
}
// If logging is enabled
#ifdef IS_LOGGING_ACTIVE
// Create and return a new logger
DefaultLogger* PhysicsCommon::createDefaultLogger() {
DefaultLogger* logger = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(DefaultLogger))) DefaultLogger(mMemoryManager.getHeapAllocator());
mLoggers.add(logger);
mDefaultLoggers.add(logger);
return logger;
}
@ -396,11 +369,9 @@ void PhysicsCommon::destroyDefaultLogger(DefaultLogger* logger) {
// Release allocated memory
mMemoryManager.release(MemoryManager::AllocationType::Pool, logger, sizeof(DefaultLogger));
mLoggers.remove(logger);
mDefaultLoggers.remove(logger);
}
#endif
// If profiling is enabled
#ifdef IS_PROFILING_ACTIVE

140
src/engine/PhysicsWorld.cpp
View File

@ -24,6 +24,7 @@
********************************************************************************/
// Libraries
#include <reactphysics3d/engine/PhysicsCommon.h>
#include <reactphysics3d/engine/PhysicsWorld.h>
#include <reactphysics3d/constraint/BallAndSocketJoint.h>
#include <reactphysics3d/constraint/SliderJoint.h>
@ -47,10 +48,9 @@ uint PhysicsWorld::mNbWorlds = 0;
/**
* @param gravity Gravity vector in the world (in meters per second squared)
* @param worldSettings The settings of the world
* @param logger Pointer to the logger
* @param profiler Pointer to the profiler
*/
PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& worldSettings, Logger* logger, Profiler* profiler)
PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& worldSettings, Profiler* profiler)
: mMemoryManager(memoryManager), mConfig(worldSettings), mEntityManager(mMemoryManager.getHeapAllocator()), mDebugRenderer(mMemoryManager.getHeapAllocator()),
mCollisionBodyComponents(mMemoryManager.getHeapAllocator()), mRigidBodyComponents(mMemoryManager.getHeapAllocator()),
mTransformComponents(mMemoryManager.getHeapAllocator()), mCollidersComponents(mMemoryManager.getHeapAllocator()),
@ -96,23 +96,16 @@ PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& wo
mDynamicsSystem.setProfiler(mProfiler);
mCollisionDetection.setProfiler(mProfiler);
#endif
#ifdef IS_LOGGING_ACTIVE
assert(logger != nullptr);
mLogger = logger;
#endif
mNbWorlds++;
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World,
"Physics World: Physics world " + mName + " has been created", __FILE__, __LINE__);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World,
"Physics World: Initial world settings: " + worldSettings.to_string(), __FILE__, __LINE__);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World,
"Physics World: Physics world " + mName + " has been created", __FILE__, __LINE__);
}
@ -120,7 +113,7 @@ PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& wo
// Destructor
PhysicsWorld::~PhysicsWorld() {
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World,
"Physics World: Physics world " + mName + " has been destroyed", __FILE__, __LINE__);
// Destroy all the collision bodies that have not been removed
@ -152,7 +145,7 @@ PhysicsWorld::~PhysicsWorld() {
assert(mJointsComponents.getNbComponents() == 0);
assert(mRigidBodies.size() == 0);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World,
"Physics World: Physics world " + mName + " has been destroyed", __FILE__, __LINE__);
}
@ -188,11 +181,7 @@ CollisionBody* PhysicsWorld::createCollisionBody(const Transform& transform) {
#endif
#ifdef IS_LOGGING_ACTIVE
collisionBody->setLogger(mLogger);
#endif
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(entity.id) + ": New collision body created", __FILE__, __LINE__);
// Return the pointer to the rigid body
@ -205,7 +194,7 @@ CollisionBody* PhysicsWorld::createCollisionBody(const Transform& transform) {
*/
void PhysicsWorld::destroyCollisionBody(CollisionBody* collisionBody) {
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(collisionBody->getEntity().id) + ": collision body destroyed", __FILE__, __LINE__);
// Remove all the collision shapes of the body
@ -477,11 +466,7 @@ RigidBody* PhysicsWorld::createRigidBody(const Transform& transform) {
rigidBody->setProfiler(mProfiler);
#endif
#ifdef IS_LOGGING_ACTIVE
rigidBody->setLogger(mLogger);
#endif
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(entity.id) + ": New collision body created", __FILE__, __LINE__);
// Return the pointer to the rigid body
@ -494,7 +479,7 @@ RigidBody* PhysicsWorld::createRigidBody(const Transform& transform) {
*/
void PhysicsWorld::destroyRigidBody(RigidBody* rigidBody) {
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(rigidBody->getEntity().id) + ": rigid body destroyed", __FILE__, __LINE__);
// Remove all the collision shapes of the body
@ -634,9 +619,9 @@ Joint* PhysicsWorld::createJoint(const JointInfo& jointInfo) {
mCollisionDetection.addNoCollisionPair(jointInfo.body1->getEntity(), jointInfo.body2->getEntity());
}
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Joint,
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::Joint,
"Joint " + std::to_string(newJoint->getEntity().id) + ": New joint created", __FILE__, __LINE__);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Joint,
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::Joint,
"Joint " + std::to_string(newJoint->getEntity().id) + ": " + newJoint->to_string(), __FILE__, __LINE__);
// Add the joint into the joint list of the bodies involved in the joint
@ -654,7 +639,7 @@ void PhysicsWorld::destroyJoint(Joint* joint) {
assert(joint != nullptr);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Joint,
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::Joint,
"Joint " + std::to_string(joint->getEntity().id) + ": joint destroyed", __FILE__, __LINE__);
// If the collision between the two bodies of the constraint was disabled
@ -702,17 +687,30 @@ void PhysicsWorld::destroyJoint(Joint* joint) {
mMemoryManager.release(MemoryManager::AllocationType::Pool, joint, nbBytes);
}
// Set the number of iterations for the velocity constraint solver
/**
* @param nbIterations Number of iterations for the velocity solver
*/
void PhysicsWorld::setNbIterationsVelocitySolver(uint nbIterations) {
mNbVelocitySolverIterations = nbIterations;
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World,
"Physics World: Set nb iterations velocity solver to " + std::to_string(nbIterations), __FILE__, __LINE__);
}
// Add the joint to the list of joints of the two bodies involved in the joint
void PhysicsWorld::addJointToBodies(Entity body1, Entity body2, Entity joint) {
mRigidBodyComponents.addJointToBody(body1, joint);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(body1.id) + ": Joint " + std::to_string(joint.id) + " added to body", __FILE__, __LINE__);
mRigidBodyComponents.addJointToBody(body2, joint);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(body2.id) + ": Joint " + std::to_string(joint.id) + " added to body", __FILE__, __LINE__);
}
@ -939,6 +937,84 @@ void PhysicsWorld::enableSleeping(bool isSleepingEnabled) {
}
}
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World,
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World,
"Physics World: isSleepingEnabled=" + (isSleepingEnabled ? std::string("true") : std::string("false")) , __FILE__, __LINE__);
}
// Set the number of iterations for the position constraint solver
/**
* @param nbIterations Number of iterations for the position solver
*/
void PhysicsWorld::setNbIterationsPositionSolver(uint nbIterations) {
mNbPositionSolverIterations = nbIterations;
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World,
"Physics World: Set nb iterations position solver to " + std::to_string(nbIterations), __FILE__, __LINE__);
}
// Set the gravity vector of the world
/**
* @param gravity The gravity vector (in meter per seconds squared)
*/
void PhysicsWorld::setGravity(Vector3& gravity) {
mConfig.gravity = gravity;
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World,
"Physics World: Set gravity vector to " + gravity.to_string(), __FILE__, __LINE__);
}
// Set the sleep linear velocity.
/// When the velocity of a body becomes smaller than the sleep linear/angular
/// velocity for a given amount of time, the body starts sleeping and does not need
/// to be simulated anymore.
/**
* @param sleepLinearVelocity The sleep linear velocity (in meters per second)
*/
void PhysicsWorld::setSleepLinearVelocity(decimal sleepLinearVelocity) {
assert(sleepLinearVelocity >= decimal(0.0));
mSleepLinearVelocity = sleepLinearVelocity;
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World,
"Physics World: sleepLinearVelocity= " + std::to_string(sleepLinearVelocity), __FILE__, __LINE__);
}
// Set the sleep angular velocity.
/// When the velocity of a body becomes smaller than the sleep linear/angular
/// velocity for a given amount of time, the body starts sleeping and does not need
/// to be simulated anymore.
/**
* @param sleepAngularVelocity The sleep angular velocity (in radian per second)
*/
void PhysicsWorld::setSleepAngularVelocity(decimal sleepAngularVelocity) {
assert(sleepAngularVelocity >= decimal(0.0));
mSleepAngularVelocity = sleepAngularVelocity;
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World,
"Physics World: sleepAngularVelocity= " + std::to_string(sleepAngularVelocity), __FILE__, __LINE__);
}
// Set the time a body is required to stay still before sleeping
/**
* @param timeBeforeSleep Time a body is required to stay still before sleeping (in seconds)
*/
void PhysicsWorld::setTimeBeforeSleep(decimal timeBeforeSleep) {
assert(timeBeforeSleep >= decimal(0.0));
mTimeBeforeSleep = timeBeforeSleep;
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World,
"Physics World: timeBeforeSleep= " + std::to_string(timeBeforeSleep), __FILE__, __LINE__);
}
// Enable/Disable the gravity
/**
* @param isGravityEnabled True if you want to enable the gravity in the world
* and false otherwise
*/
void PhysicsWorld::setIsGravityEnabled(bool isGravityEnabled) {
mIsGravityEnabled = isGravityEnabled;
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World,
"Physics World: isGravityEnabled= " + (isGravityEnabled ? std::string("true") : std::string("false")), __FILE__, __LINE__);
}

8
src/utils/DefaultLogger.cpp
View File

@ -23,8 +23,6 @@
* *
********************************************************************************/
#ifdef IS_LOGGING_ACTIVE
// Libraries
#include <reactphysics3d/utils/DefaultLogger.h>
#include <reactphysics3d/memory/MemoryManager.h>
@ -94,7 +92,7 @@ void DefaultLogger::removeAllDestinations() {
}
// Log something
void DefaultLogger::log(Level level, Category category, const std::string& message, const char* filename, int lineNumber) {
void DefaultLogger::log(Level level, const std::string& physicsWorldName, Category category, const std::string& message, const char* filename, int lineNumber) {
// Get current time
auto now = std::chrono::system_clock::now();
@ -105,10 +103,8 @@ void DefaultLogger::log(Level level, Category category, const std::string& messa
// For each destination
for (auto it = mDestinations.begin(); it != mDestinations.end(); ++it) {
(*it)->write(time, message, level, category, filename, lineNumber);
(*it)->write(time, physicsWorldName, message, level, category, filename, lineNumber);
}
mMutex.unlock();
}
#endif

12
test/tests/collision/TestDynamicAABBTree.h
View File

@ -109,8 +109,18 @@ class TestDynamicAABBTree : public Test {
TestDynamicAABBTree(const std::string& name): Test(name) {
#ifdef IS_PROFILING_ACTIVE
mProfiler = mPhysicsCommon.createProfiler();
mProfiler = new Profiler();
#endif
}
/// Constructor
~TestDynamicAABBTree() {
#ifdef IS_PROFILING_ACTIVE
delete mProfiler;
#endif
}
bool isOverlapping(int nodeId, const List<int>& overlappingNodes) const {

7
testbed/scenes/collisiondetection/CollisionDetectionScene.cpp
View File

@ -52,6 +52,13 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
rp3d::PhysicsWorld::WorldSettings worldSettings;
worldSettings.worldName = name;
// Logger
rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
static_cast<uint>(rp3d::Logger::Level::Error);
defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
mPhysicsCommon.setLogger(defaultLogger);
// Create the physics world for the physics simulation
mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);

7
testbed/scenes/collisionshapes/CollisionShapesScene.cpp
View File

@ -48,6 +48,13 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
rp3d::PhysicsWorld::WorldSettings worldSettings;
worldSettings.worldName = name;
// Logger
rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
static_cast<uint>(rp3d::Logger::Level::Error);
defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
mPhysicsCommon.setLogger(defaultLogger);
// Create the physics world for the physics simulation
rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
physicsWorld->setEventListener(this);

7
testbed/scenes/concavemesh/ConcaveMeshScene.cpp
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@ -48,6 +48,13 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
rp3d::PhysicsWorld::WorldSettings worldSettings;
worldSettings.worldName = name;
// Logger
rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
static_cast<uint>(rp3d::Logger::Level::Error);
defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
mPhysicsCommon.setLogger(defaultLogger);
// Create the physics world for the physics simulation
rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
physicsWorld->setEventListener(this);

7
testbed/scenes/cubes/CubesScene.cpp
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@ -48,6 +48,13 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings)
rp3d::PhysicsWorld::WorldSettings worldSettings;
worldSettings.worldName = name;
// Logger
rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
static_cast<uint>(rp3d::Logger::Level::Error);
defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
mPhysicsCommon.setLogger(defaultLogger);
// Create the physics world for the physics simulation
rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
physicsWorld->setEventListener(this);

7
testbed/scenes/cubestack/CubeStackScene.cpp
View File

@ -46,6 +46,13 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings
rp3d::PhysicsWorld::WorldSettings worldSettings;
worldSettings.worldName = name;
// Logger
rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
static_cast<uint>(rp3d::Logger::Level::Error);
defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
mPhysicsCommon.setLogger(defaultLogger);
// Create the physics world for the physics simulation
rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
physicsWorld->setEventListener(this);

7
testbed/scenes/heightfield/HeightFieldScene.cpp
View File

@ -47,6 +47,13 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
rp3d::PhysicsWorld::WorldSettings worldSettings;
worldSettings.worldName = name;
// Logger
rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
static_cast<uint>(rp3d::Logger::Level::Error);
defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
mPhysicsCommon.setLogger(defaultLogger);
// Create the physics world for the physics simulation
rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);

7
testbed/scenes/joints/JointsScene.cpp
View File

@ -47,6 +47,13 @@ JointsScene::JointsScene(const std::string& name, EngineSettings& settings)
rp3d::PhysicsWorld::WorldSettings worldSettings;
worldSettings.worldName = name;
// Logger
rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
static_cast<uint>(rp3d::Logger::Level::Error);
defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
mPhysicsCommon.setLogger(defaultLogger);
// Create the physics world for the physics simulation
rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
physicsWorld->setEventListener(this);

7
testbed/scenes/pile/PileScene.cpp
View File

@ -48,6 +48,13 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
rp3d::PhysicsWorld::WorldSettings worldSettings;
worldSettings.worldName = name;
// Logger
rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
static_cast<uint>(rp3d::Logger::Level::Error);
defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
mPhysicsCommon.setLogger(defaultLogger);
// Create the physics world for the physics simulation
mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);

7
testbed/scenes/raycast/RaycastScene.cpp
View File

@ -45,6 +45,13 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
rp3d::PhysicsWorld::WorldSettings worldSettings;
worldSettings.worldName = name;
// Logger
rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
static_cast<uint>(rp3d::Logger::Level::Error);
defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
mPhysicsCommon.setLogger(defaultLogger);
// Create the physics world for the physics simulation
mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);

2
testbed/src/SceneDemo.cpp
View File

@ -618,7 +618,7 @@ void SceneDemo::updateEngineSettings() {
if (mIsPhysicsWorldSimulated) {
// Update the physics engine parameters
mPhysicsWorld->setIsGratityEnabled(mEngineSettings.isGravityEnabled);
mPhysicsWorld->setIsGravityEnabled(mEngineSettings.isGravityEnabled);
rp3d::Vector3 gravity(mEngineSettings.gravity.x, mEngineSettings.gravity.y,
mEngineSettings.gravity.z);
mPhysicsWorld->setGravity(gravity);