add hello world example and edit source tree

examples/testbed/tests/angular_motion.h

@@ -0,0 +1,79 @@
+/*
+* 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.
+*/
+
+#ifndef ANGULAR_MOTION_H
+#define ANGULAR_MOTION_H
+
+class AngularMotion : public Test
+{
+public:
+	AngularMotion()
+	{
+		b3BodyDef bdef;
+		bdef.type = e_dynamicBody;
+		bdef.position.Set(0.0f, 0.0f, 0.0f);
+
+		m_body = m_world.CreateBody(bdef);
+
+		b3CapsuleShape shape;
+		shape.m_centers[0].Set(0.0f, 1.0f, 0.0f);
+		shape.m_centers[1].Set(0.0f, -1.0f, 0.0f);
+		shape.m_radius = 1.0f;
+
+		b3ShapeDef sdef;
+		sdef.shape = &shape;
+		sdef.density = 1.0f;
+
+		m_body->CreateShape(sdef);
+
+		b3MassData data;
+		m_body->GetMassData(&data);
+
+		m_body->SetMassData(&data);
+
+		b3Vec3 g(0.0f, 0.0f, 0.0f);
+		m_world.SetGravity(g);
+	}
+
+	void Step()
+	{
+		Test::Step();
+
+		b3Vec3 v(0.0f, 0.0f, 0.0f);
+		m_body->SetLinearVelocity(v);
+
+		b3Vec3 p = m_body->GetSweep().worldCenter;
+		b3Quat quat = m_body->GetSweep().orientation;
+
+		b3Vec3 axis;
+		float32 angle;
+		quat.GetAxisAngle(&axis, &angle);
+		
+		b3Vec3 q(0.0f, 0.0f, 0.0f);
+		m_body->SetTransform(q, axis, angle);
+	}
+
+	static Test* Create()
+	{
+		return new AngularMotion();
+	}
+
+	b3Body* m_body;
+};
+
+#endif