[DEBUG] update new API of lutin log

ephysics/body/CollisionBody.cpp

@@ -23,6 +23,13 @@ CollisionBody::CollisionBody(const etk::Transform3D& _transform, CollisionWorld&
   m_contactManifoldsList(null),
   m_world(_world) {
 	
+	EPHY_DEBUG("         set transform: " << _transform);
+	if (isnan(_transform.getPosition().x()) == true) { // check NAN
+		EPHY_CRITICAL("         set transform: " << _transform);
+	}
+	if (isinf(_transform.getOrientation().z()) == true) {
+		EPHY_CRITICAL("         set transform: " << _transform);
+	}
 }
 
 CollisionBody::~CollisionBody() {
@@ -40,6 +47,17 @@ inline void CollisionBody::setType(BodyType _type) {
 	}
 }
 
+void CollisionBody::setTransform(const etk::Transform3D& _transform) {
+	EPHY_DEBUG("         set transform: " << m_transform << " ==> " << _transform);
+	if (isnan(_transform.getPosition().x()) == true) { // check NAN
+		EPHY_CRITICAL("         set transform: " << m_transform << " ==> " << _transform);
+	}
+	if (isinf(_transform.getOrientation().z()) == true) {
+		EPHY_CRITICAL("         set transform: " << m_transform << " ==> " << _transform);
+	}
+	m_transform = _transform;
+	updateBroadPhaseState();
+}
 
 ProxyShape* CollisionBody::addCollisionShape(CollisionShape* _collisionShape,
                                              const etk::Transform3D& _transform) {

ephysics/body/CollisionBody.hpp

@@ -106,10 +106,7 @@ namespace ephysics {
 			 * @brief Set the current position and orientation
 			 * @param transform The transformation of the body that transforms the local-space of the body int32_to world-space
 			 */
-			void setTransform(const etk::Transform3D& _transform) {
-				m_transform = _transform;
-				updateBroadPhaseState();
-			}
+			virtual void setTransform(const etk::Transform3D& _transform);
 			/**
 			 * @brief Add a collision shape to the body. Note that you can share a collision shape between several bodies using the same collision shape instance to
 			 * when you add the shape to the different bodies. Do not forget to delete the collision shape you have created at the end of your program.

ephysics/body/RigidBody.cpp

@@ -182,8 +182,25 @@ void RigidBody::setIsSleeping(bool _isSleeping) {
 	Body::setIsSleeping(_isSleeping);
 }
 
+void RigidBody::updateTransformWithCenterOfMass() {
+	// Translate the body according to the translation of the center of mass position
+	m_transform.setPosition(m_centerOfMassWorld - m_transform.getOrientation() * m_centerOfMassLocal);
+	if (isnan(m_transform.getPosition().x()) == true) {
+		EPHY_CRITICAL("updateTransformWithCenterOfMass: " << m_transform);
+	}
+	if (isinf(m_transform.getOrientation().z()) == true) {
+		EPHY_CRITICAL("         set transform: " << m_transform);
+	}
+}
 
 void RigidBody::setTransform(const etk::Transform3D& _transform) {
+	EPHY_DEBUG("         set transform: " << m_transform << " ==> " << _transform);
+	if (isnan(_transform.getPosition().x()) == true) {
+		EPHY_CRITICAL("         set transform: " << m_transform << " ==> " << _transform);
+	}
+	if (isinf(_transform.getOrientation().z()) == true) {
+		EPHY_CRITICAL("         set transform: " << m_transform << " ==> " << _transform);
+	}
 	m_transform = _transform;
 	const vec3 oldCenterOfMass = m_centerOfMassWorld;
 	// Compute the new center of mass in world-space coordinates
@@ -258,6 +275,7 @@ void RigidBody::updateBroadPhaseState() const {
 		// Recompute the world-space AABB of the collision shape
 		AABB aabb;
 		EPHY_VERBOSE("         : " << aabb.getMin() << " " << aabb.getMax());
+		EPHY_VERBOSE("         m_transform: " << m_transform);
 		shape->getCollisionShape()->computeAABB(aabb, m_transform *shape->getLocalToBodyTransform());
 		EPHY_VERBOSE("         : " << aabb.getMin() << " " << aabb.getMax());
 		// Update the broad-phase state for the proxy collision shape

ephysics/body/RigidBody.hpp

@@ -53,10 +53,7 @@ namespace ephysics {
 			/**
 			 * @brief Update the transform of the body after a change of the center of mass
 			 */
-			void updateTransformWithCenterOfMass() {
-				// Translate the body according to the translation of the center of mass position
-				m_transform.setPosition(m_centerOfMassWorld - m_transform.getOrientation() * m_centerOfMassLocal);
-			}
+			void updateTransformWithCenterOfMass();
 			void updateBroadPhaseState() const override;
 		public :
 			/**
@@ -75,7 +72,7 @@ namespace ephysics {
 			 * @brief Set the current position and orientation
 			 * @param[in] _transform The transformation of the body that transforms the local-space of the body int32_to world-space
 			 */
-			virtual void setTransform(const etk::Transform3D& _transform);
+			void setTransform(const etk::Transform3D& _transform) override;
 			/**
 			 * @brief Get the mass of the body
 			 * @return The mass (in kilograms) of the body

ephysics/collision/broadphase/BroadPhaseAlgorithm.cpp

@@ -107,6 +107,16 @@ void BroadPhaseAlgorithm::updateProxyCollisionShape(ProxyShape* _proxyShape,
 	}
 }
 
+static bool sortFunction(const etk::Pair<int32_t,int32_t>& _pair1, const etk::Pair<int32_t,int32_t>& _pair2) {
+	if (_pair1.first < _pair2.first) {
+		return true;
+	}
+	if (_pair1.first == _pair2.first) {
+		return _pair1.second < _pair2.second;
+	}
+	return false;
+}
+
 void BroadPhaseAlgorithm::computeOverlappingPairs() {
 	m_potentialPairs.clear();
 	// For all collision shapes that have moved (or have been created) during the
@@ -133,17 +143,7 @@ void BroadPhaseAlgorithm::computeOverlappingPairs() {
 	// Reset the array of collision shapes that have move (or have been created) during the last simulation step
 	m_movedShapes.clear();
 	// Sort the array of potential overlapping pairs in order to remove duplicate pairs
-	m_potentialPairs.sort(0,
-	                      m_potentialPairs.size()-1,
-	                      [](const etk::Pair<int32_t,int32_t>& _pair1, const etk::Pair<int32_t,int32_t>& _pair2) {
-	                      	if (_pair1.first < _pair2.first) {
-	                      		return true;
-	                      	}
-	                      	if (_pair1.first == _pair2.first) {
-	                      		return _pair1.second < _pair2.second;
-	                      	}
-	                      	return false;
-	                      });
+	etk::algorithm::quickSort(m_potentialPairs, sortFunction);
 	// Check all the potential overlapping pairs avoiding duplicates to report unique
 	// overlapping pairs
 	uint32_t iii=0;

ephysics/collision/narrowphase/ConcaveVsConvexAlgorithm.cpp

@@ -11,6 +11,7 @@
 #include <ephysics/collision/narrowphase/ConcaveVsConvexAlgorithm.hpp>
 #include <ephysics/collision/CollisionDetection.hpp>
 #include <ephysics/engine/CollisionWorld.hpp>
+#include <etk/algorithm.hpp>
 
 using namespace ephysics;
 
@@ -91,17 +92,17 @@ void ConvexVsTriangleCallback::testTriangle(const vec3* _trianglePoints) {
 	algo->testCollision(shapeConvexInfo, shapeConcaveInfo, m_narrowPhaseCallback);
 }
 
+static bool sortFunction(const SmoothMeshContactInfo& _contact1, const SmoothMeshContactInfo& _contact2) {
+	return _contact1.contactInfo.penetrationDepth <= _contact2.contactInfo.penetrationDepth;
+}
+
 void ConcaveVsConvexAlgorithm::processSmoothMeshCollision(OverlappingPair* _overlappingPair,
                                                           etk::Vector<SmoothMeshContactInfo> _contactPoints,
                                                           NarrowPhaseCallback* _callback) {
 	// Set with the triangle vertices already processed to void further contacts with same triangle
 	etk::Vector<etk::Pair<int32_t, vec3>> processTriangleVertices;
 	// Sort the list of narrow-phase contacts according to their penetration depth
-	_contactPoints.sort(0,
-	                   _contactPoints.size()-1,
-	                   [](const SmoothMeshContactInfo& _contact1, const SmoothMeshContactInfo& _contact2) {
-	                    	return _contact1.contactInfo.penetrationDepth < _contact2.contactInfo.penetrationDepth;
-	                    });
+	etk::algorithm::quickSort(_contactPoints, sortFunction);
 	// For each contact point (from smaller penetration depth to larger)
 	etk::Vector<SmoothMeshContactInfo>::Iterator it;
 	for (it = _contactPoints.begin(); it != _contactPoints.end(); ++it) {

lutin_ephysics-test.py

@@ -1,5 +1,5 @@
 #!/usr/bin/python
-import lutin.debug as debug
+import realog.debug as debug
 import lutin.tools as tools
 
 

lutin_ephysics.py

@@ -1,5 +1,5 @@
 #!/usr/bin/python
-import lutin.debug as debug
+import realog.debug as debug
 import lutin.tools as tools