diff --git a/examples/hello_world/main.cpp b/examples/hello_world/main.cpp
new file mode 100644
index 0000000..2760e6d
--- /dev/null
+++ b/examples/hello_world/main.cpp
@@ -0,0 +1,128 @@
+/*
+* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+*
+* 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.
+*/
+
+#include <bounce\bounce.h>
+
+// We don't care for a profiler. This definition does nothing.
+bool b3PushProfileScope(const char* name)
+{
+	return false;
+}
+
+// We don't care for a profiler. This definition does nothing.
+void b3PopProfileScope()
+{
+	
+}
+
+// This example shows how to setup and run a simple simulation 
+// using Bounce. 
+int main(int argc, char** argv)
+{
+	// The world gravity.
+	const b3Vec3 gravity(0.0f, -9.8f, 0.0f);
+	
+	// The fixed time step size.
+	const float32 timeStep = 1.0f / 60.0f;
+	
+	// Number of iterations for the velocity constraint solver.
+	const u32 velocityIterations = 8;
+
+	// Number of iterations for the position constraint solver.
+	const u32 positionIterations = 2;
+
+	// The world-> We allocate it using the heap but you can to it 
+	// on the stack if the stack is sufficiently large.
+	b3World* world = new b3World();
+	world->SetGravity(gravity);
+
+	// Create a static ground body at the world origin.
+	b3BodyDef groundDef;
+	b3Body* ground = world->CreateBody(groundDef);
+
+	// Create a box positioned at the world origin and 
+	// aligned with the world frame.
+	b3BoxHull groundBox;
+	
+	// Set the ground box dimensions using a linear scale transform.
+	b3Transform scale;
+	scale.position.SetZero();
+	scale.rotation = b3Diagonal(10.0f, 1.0f, 10.0f);
+	groundBox.SetTransform(scale);
+	
+	// Create the box physics wrapper.
+	b3HullShape groundShape;
+	groundShape.m_hull = &groundBox;
+
+	// Add the box to the ground body.
+	b3ShapeDef groundBoxDef;
+	groundBoxDef.shape = &groundShape;
+	ground->CreateShape(groundBoxDef);
+
+	// Create a dynamic body.
+	b3BodyDef bodyDef;
+	bodyDef.type = e_dynamicBody;
+	
+	// Position the body 10 meters high from the world origin.
+	bodyDef.position.Set(0.0f, 10.0f, 0.0f);
+	
+	// Set the initial angular velocity to pi radians (180 degrees) per second.
+	bodyDef.angularVelocity.Set(0.0f, B3_PI, 0.0f);
+	
+	b3Body* body = world->CreateBody(bodyDef);
+
+	// Create a unit box positioned at the world origin and 
+	// aligned with the world frame.
+	b3BoxHull bodyBox;
+	bodyBox.SetIdentity();
+
+	// Create the box physics wrapper.
+	b3HullShape bodyShape;
+	bodyShape.m_hull = &bodyBox;
+
+	// Add the box to the body.
+	b3ShapeDef bodyBoxDef;
+	bodyBoxDef.shape = &bodyShape;
+	bodyBoxDef.density = 1.0f;
+	body->CreateShape(bodyBoxDef);
+
+	// Run a small game loop of 60 frames length.
+	for (u32 i = 0; i < 60; ++i)
+	{
+		// Perform a time step of the world in this frame.
+		world->Step(timeStep, velocityIterations, positionIterations);
+		
+		// Read the body position and orientation in this frame.
+		b3Vec3 position = body->GetPosition();
+		b3Quat orientation = body->GetOrientation();
+		
+		// Decode the axis and angle of rotation about it from the quaternion.
+		b3Vec3 axis;
+		float32 angle;
+		orientation.GetAxisAngle(&axis, &angle);
+
+		// Visualize the body state in this frame.
+		printf("position = %.2f %.2f %.2f\n", position.x, position.y, position.z);
+		printf("axis = %.2f %.2f %.2f, angle = %.2f\n\n", axis.x, axis.y, axis.z, angle);
+	}
+	
+	// Now destroy the bodies since the world manages their lifetime.
+	delete world;
+
+	return 0;
+}
\ No newline at end of file
diff --git a/src/testbed/framework/debug_draw.cpp b/examples/testbed/framework/debug_draw.cpp
similarity index 100%
rename from src/testbed/framework/debug_draw.cpp
rename to examples/testbed/framework/debug_draw.cpp
diff --git a/include/testbed/framework/debug_draw.h b/examples/testbed/framework/debug_draw.h
similarity index 100%
rename from include/testbed/framework/debug_draw.h
rename to examples/testbed/framework/debug_draw.h
diff --git a/src/testbed/framework/main.cpp b/examples/testbed/framework/main.cpp
similarity index 100%
rename from src/testbed/framework/main.cpp
rename to examples/testbed/framework/main.cpp
diff --git a/include/testbed/framework/mat44.h b/examples/testbed/framework/mat44.h
similarity index 100%
rename from include/testbed/framework/mat44.h
rename to examples/testbed/framework/mat44.h
diff --git a/src/testbed/framework/profiler.cpp b/examples/testbed/framework/profiler.cpp
similarity index 100%
rename from src/testbed/framework/profiler.cpp
rename to examples/testbed/framework/profiler.cpp
diff --git a/include/testbed/framework/profiler.h b/examples/testbed/framework/profiler.h
similarity index 100%
rename from include/testbed/framework/profiler.h
rename to examples/testbed/framework/profiler.h
diff --git a/src/testbed/framework/test.cpp b/examples/testbed/framework/test.cpp
similarity index 100%
rename from src/testbed/framework/test.cpp
rename to examples/testbed/framework/test.cpp
diff --git a/src/testbed/framework/test_entries.cpp b/examples/testbed/framework/test_entries.cpp
similarity index 100%
rename from src/testbed/framework/test_entries.cpp
rename to examples/testbed/framework/test_entries.cpp
diff --git a/include/testbed/tests/angular_motion.h b/examples/testbed/tests/angular_motion.h
similarity index 100%
rename from include/testbed/tests/angular_motion.h
rename to examples/testbed/tests/angular_motion.h
diff --git a/include/testbed/tests/body_types.h b/examples/testbed/tests/body_types.h
similarity index 100%
rename from include/testbed/tests/body_types.h
rename to examples/testbed/tests/body_types.h
diff --git a/include/testbed/tests/box_stack.h b/examples/testbed/tests/box_stack.h
similarity index 100%
rename from include/testbed/tests/box_stack.h
rename to examples/testbed/tests/box_stack.h
diff --git a/include/testbed/tests/capsule_and_hull_collision.h b/examples/testbed/tests/capsule_and_hull_collision.h
similarity index 100%
rename from include/testbed/tests/capsule_and_hull_collision.h
rename to examples/testbed/tests/capsule_and_hull_collision.h
diff --git a/include/testbed/tests/capsule_collision.h b/examples/testbed/tests/capsule_collision.h
similarity index 100%
rename from include/testbed/tests/capsule_collision.h
rename to examples/testbed/tests/capsule_collision.h
diff --git a/include/testbed/tests/capsule_distance.h b/examples/testbed/tests/capsule_distance.h
similarity index 100%
rename from include/testbed/tests/capsule_distance.h
rename to examples/testbed/tests/capsule_distance.h
diff --git a/include/testbed/tests/capsule_stack.h b/examples/testbed/tests/capsule_stack.h
similarity index 100%
rename from include/testbed/tests/capsule_stack.h
rename to examples/testbed/tests/capsule_stack.h
diff --git a/include/testbed/tests/character_test.h b/examples/testbed/tests/character_test.h
similarity index 100%
rename from include/testbed/tests/character_test.h
rename to examples/testbed/tests/character_test.h
diff --git a/include/testbed/tests/cloth_test.h b/examples/testbed/tests/cloth_test.h
similarity index 100%
rename from include/testbed/tests/cloth_test.h
rename to examples/testbed/tests/cloth_test.h
diff --git a/include/testbed/tests/cluster_test.h b/examples/testbed/tests/cluster_test.h
similarity index 100%
rename from include/testbed/tests/cluster_test.h
rename to examples/testbed/tests/cluster_test.h
diff --git a/include/testbed/tests/collide_test.h b/examples/testbed/tests/collide_test.h
similarity index 100%
rename from include/testbed/tests/collide_test.h
rename to examples/testbed/tests/collide_test.h
diff --git a/include/testbed/tests/distance_test.h b/examples/testbed/tests/distance_test.h
similarity index 100%
rename from include/testbed/tests/distance_test.h
rename to examples/testbed/tests/distance_test.h
diff --git a/include/testbed/tests/hinge_chain.h b/examples/testbed/tests/hinge_chain.h
similarity index 100%
rename from include/testbed/tests/hinge_chain.h
rename to examples/testbed/tests/hinge_chain.h
diff --git a/include/testbed/tests/hinge_motor.h b/examples/testbed/tests/hinge_motor.h
similarity index 100%
rename from include/testbed/tests/hinge_motor.h
rename to examples/testbed/tests/hinge_motor.h
diff --git a/include/testbed/tests/hull_collision.h b/examples/testbed/tests/hull_collision.h
similarity index 100%
rename from include/testbed/tests/hull_collision.h
rename to examples/testbed/tests/hull_collision.h
diff --git a/include/testbed/tests/jenga.h b/examples/testbed/tests/jenga.h
similarity index 100%
rename from include/testbed/tests/jenga.h
rename to examples/testbed/tests/jenga.h
diff --git a/include/testbed/tests/linear_motion.h b/examples/testbed/tests/linear_motion.h
similarity index 100%
rename from include/testbed/tests/linear_motion.h
rename to examples/testbed/tests/linear_motion.h
diff --git a/include/testbed/tests/mesh_contact_test.h b/examples/testbed/tests/mesh_contact_test.h
similarity index 100%
rename from include/testbed/tests/mesh_contact_test.h
rename to examples/testbed/tests/mesh_contact_test.h
diff --git a/include/testbed/tests/multiple_shapes.h b/examples/testbed/tests/multiple_shapes.h
similarity index 100%
rename from include/testbed/tests/multiple_shapes.h
rename to examples/testbed/tests/multiple_shapes.h
diff --git a/include/testbed/tests/newton_cradle.h b/examples/testbed/tests/newton_cradle.h
similarity index 100%
rename from include/testbed/tests/newton_cradle.h
rename to examples/testbed/tests/newton_cradle.h
diff --git a/include/testbed/tests/pyramid.h b/examples/testbed/tests/pyramid.h
similarity index 100%
rename from include/testbed/tests/pyramid.h
rename to examples/testbed/tests/pyramid.h
diff --git a/include/testbed/tests/pyramids.h b/examples/testbed/tests/pyramids.h
similarity index 100%
rename from include/testbed/tests/pyramids.h
rename to examples/testbed/tests/pyramids.h
diff --git a/include/testbed/tests/quadric_shapes.h b/examples/testbed/tests/quadric_shapes.h
similarity index 100%
rename from include/testbed/tests/quadric_shapes.h
rename to examples/testbed/tests/quadric_shapes.h
diff --git a/include/testbed/tests/quickhull_test.h b/examples/testbed/tests/quickhull_test.h
similarity index 100%
rename from include/testbed/tests/quickhull_test.h
rename to examples/testbed/tests/quickhull_test.h
diff --git a/include/testbed/tests/ragdoll.h b/examples/testbed/tests/ragdoll.h
similarity index 100%
rename from include/testbed/tests/ragdoll.h
rename to examples/testbed/tests/ragdoll.h
diff --git a/include/testbed/tests/ray_cast.h b/examples/testbed/tests/ray_cast.h
similarity index 100%
rename from include/testbed/tests/ray_cast.h
rename to examples/testbed/tests/ray_cast.h
diff --git a/include/testbed/tests/sensor_test.h b/examples/testbed/tests/sensor_test.h
similarity index 100%
rename from include/testbed/tests/sensor_test.h
rename to examples/testbed/tests/sensor_test.h
diff --git a/include/testbed/tests/shape_stack.h b/examples/testbed/tests/shape_stack.h
similarity index 100%
rename from include/testbed/tests/shape_stack.h
rename to examples/testbed/tests/shape_stack.h
diff --git a/include/testbed/tests/sphere_stack.h b/examples/testbed/tests/sphere_stack.h
similarity index 100%
rename from include/testbed/tests/sphere_stack.h
rename to examples/testbed/tests/sphere_stack.h
diff --git a/include/testbed/tests/spring.h b/examples/testbed/tests/spring.h
similarity index 100%
rename from include/testbed/tests/spring.h
rename to examples/testbed/tests/spring.h
diff --git a/include/testbed/tests/test.h b/examples/testbed/tests/test.h
similarity index 100%
rename from include/testbed/tests/test.h
rename to examples/testbed/tests/test.h
diff --git a/include/testbed/tests/thin.h b/examples/testbed/tests/thin.h
similarity index 100%
rename from include/testbed/tests/thin.h
rename to examples/testbed/tests/thin.h
diff --git a/include/testbed/tests/varying_friction.h b/examples/testbed/tests/varying_friction.h
similarity index 100%
rename from include/testbed/tests/varying_friction.h
rename to examples/testbed/tests/varying_friction.h
diff --git a/include/testbed/tests/varying_restitution.h b/examples/testbed/tests/varying_restitution.h
similarity index 100%
rename from include/testbed/tests/varying_restitution.h
rename to examples/testbed/tests/varying_restitution.h
diff --git a/include/bounce/common/memory/stack_allocator.h b/include/bounce/common/memory/stack_allocator.h
index 2ac323f..db64bb8 100644
--- a/include/bounce/common/memory/stack_allocator.h
+++ b/include/bounce/common/memory/stack_allocator.h
@@ -21,9 +21,9 @@
 
 #include <bounce/common/settings.h>
 
-// Allocate 10 MiB from the stack. 
+// Allocate 1 MiB from the stack. 
 // Increase as you want.
-const u32 b3_maxStackSize = B3_MiB(10);
+const u32 b3_maxStackSize = B3_MiB(1);
 
 // A stack allocator.
 class b3StackAllocator 
diff --git a/include/bounce/dynamics/body.h b/include/bounce/dynamics/body.h
index 7358953..2b049cf 100644
--- a/include/bounce/dynamics/body.h
+++ b/include/bounce/dynamics/body.h
@@ -116,6 +116,12 @@ public:
 	// However, manipulating a body transform during the simulation may cause non-physical behaviour.
 	void SetTransform(const b3Vec3& position, const b3Vec3& axis, float32 angle);
 	
+	// Get the position of the world body origin.
+	b3Vec3 GetPosition() const;
+
+	// Get the orientation of the world body frame.
+	b3Quat GetOrientation() const;
+
 	// Get the gravity scale of the body. One is used by default.
 	float32 GetGravityScale() const;
 	
@@ -382,6 +388,16 @@ inline void b3Body::SetTransform(const b3Vec3& position, const b3Vec3& axis, flo
 	SynchronizeShapes();
 }
 
+inline b3Vec3 b3Body::GetPosition() const
+{
+	return m_sweep.worldCenter;
+}
+
+inline b3Quat b3Body::GetOrientation() const
+{
+	return m_sweep.orientation;
+}
+
 inline b3Vec3 b3Body::GetLocalVector(const b3Vec3& vector) const
 {
 	return b3MulT(m_xf.rotation, vector);
diff --git a/include/bounce/dynamics/time_step.h b/include/bounce/dynamics/time_step.h
index a4546fb..6afe01c 100644
--- a/include/bounce/dynamics/time_step.h
+++ b/include/bounce/dynamics/time_step.h
@@ -53,7 +53,7 @@ enum b3LimitState
 
 // Return the Steiner's matrix given the displacement vector from the old 
 // center of rotation to the new center of rotation.
-// The result equals to transpose( skew(v) ) * skew(v) or diagonal(v^2) - outer(v)
+// The result equals to transpose( skew(v) ) * skew(v) or diagonal(v^2) - outer(v, v)
 inline b3Mat33 b3Steiner(const b3Vec3& v)
 {
 	float32 xx = v.x * v.x;
diff --git a/premake5.lua b/premake5.lua
index 9687702..064f155 100644
--- a/premake5.lua
+++ b/premake5.lua
@@ -7,8 +7,12 @@ solution_name = "bounce"
 working_dir = "."
 solution_dir = "build/"
 external_dir = "external/"
-inc_dir = "include/"
-src_dir = "src/"
+bounce_inc_dir = "include/"
+bounce_src_dir = "src/"
+examples_inc_dir = "examples/"
+examples_src_dir = "examples/"
+tests_inc_dir = "tests/"
+tests_src_dir = "tests/"
 obj_dir = "/obj/"
 bin_dir = "/bin/"
 
@@ -48,15 +52,15 @@ solution (solution_name)
 		kind "StaticLib"
 		language "C++"
 		location ( solution_dir .. action )
-		includedirs { inc_dir }
+		includedirs { bounce_inc_dir }
 		vpaths { [""] = "bounce" }		
 		buildoptions { "-std=c++11" } -- require C++11
 
 		files 
 		{ 
-			inc_dir .. "/bounce/**.h", 
-			inc_dir .. "/bounce/**.inl", 
-			src_dir .. "/bounce/**.cpp" 
+			bounce_inc_dir .. "/bounce/**.h", 
+			bounce_inc_dir .. "/bounce/**.inl", 
+			bounce_src_dir .. "/bounce/**.cpp" 
 		}
 	project "glad"
 		kind "StaticLib"
@@ -178,14 +182,14 @@ solution (solution_name)
 		kind "ConsoleApp"
 		language "C++"
 		location ( solution_dir .. action )
-		includedirs { external_dir, inc_dir }
+		includedirs { external_dir, bounce_inc_dir, examples_inc_dir }
 		vpaths { ["Headers"] = "**.h", ["Sources"] = "**.cpp" }
 		buildoptions { "-std=c++11" } -- GNU/GCC C++11
 
 		files 
 		{ 
-			inc_dir .. "/testbed/**.h", 
-			src_dir .. "/testbed/**.cpp" 
+			examples_inc_dir .. "/testbed/**.h", 
+			examples_src_dir .. "/testbed/**.cpp" 
 		}
 
 		links { "glfw", "glad", "imgui", "bounce" }
@@ -201,7 +205,22 @@ solution (solution_name)
 				"xcb-dri2", "xcb-dri3", "xcb-present", "xcb-sync", "xshmfence", 
 				"Xxf86vm", "Xfixes", "Xext", "X11", "pthread", "xcb", "Xau", "Xdmcp" 
 			}
-			
+		
+	project "hello_world"
+		kind "ConsoleApp"
+		language "C++"
+		location ( solution_dir .. action )
+		includedirs { bounce_inc_dir, examples_inc_dir }
+		vpaths { ["Headers"] = "**.h", ["Sources"] = "**.cpp" }
+		buildoptions { "-std=c++11" } -- GNU/GCC C++11
+
+		files 
+		{ 
+			examples_inc_dir .. "/hello_world/**.h", 
+			examples_src_dir .. "/hello_world/**.cpp" 
+		}
+
+		links { "bounce" }
 -- build
 if os.is "windows" then
 	
diff --git a/readme.md b/readme.md
index 08deedd..1a950e1 100644
--- a/readme.md
+++ b/readme.md
@@ -4,7 +4,7 @@ Bounce is a 3D physics engine for games and interactive applications.
 
 To get started with Bounce see readme.txt.
 
-Here is how to control the Testbed. The Testbed is a collection of tests and examples that helps the author debug features and is not part of the library.
+Here is how to control the Testbed. The Testbed is a collection of non-unit tests and examples that helps the author debug features and is not part of the library.
 
 Camera (as in Maya):
 
diff --git a/tests/ignore.txt b/tests/ignore.txt
new file mode 100644
index 0000000..e69de29