add hello world example and edit source tree

examples/testbed/tests/capsule_stack.h

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+/*
+* 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 CAPSULE_STACK_H
+#define CAPSULE_STACK_H
+
+class CapsuleStack : public Test
+{
+public:
+	enum
+	{
+		e_rowCount = 5,
+		e_columnCount = 5,
+		e_depthCount = 5
+	};
+
+	CapsuleStack()
+	{
+		{
+			b3BodyDef bd;
+			bd.type = b3BodyType::e_staticBody;
+			
+			b3Body* body = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &hs;
+			
+			body->CreateShape(sd);
+		}
+		
+		float32 height = 3.0f;
+		float32 radius = 1.0f;
+		float32 separation = 0.0f;
+
+		b3CapsuleShape capsule;
+		capsule.m_centers[0].Set(0.0f, -0.5f * height, 0.0f);
+		capsule.m_centers[1].Set(0.0f, 0.5f * height, 0.0f);
+		capsule.m_radius = radius;
+
+		b3ShapeDef sdef;
+		sdef.shape = &capsule;
+		sdef.density = 1.0f;
+		sdef.friction = 0.3f;
+
+		const u32 c = e_rowCount * e_columnCount * e_depthCount;
+		b3Body* bs[c];
+		u32 n = 0;
+
+		b3AABB3 aabb;
+		aabb.m_lower.Set(0.0f, 0.0f, 0.0f);
+		aabb.m_upper.Set(0.0f, 0.0f, 0.0f);
+
+		for (u32 i = 0; i < e_rowCount; ++i)
+		{
+			for (u32 j = 0; j < e_columnCount; ++j)
+			{
+				for (u32 k = 0; k < e_depthCount; ++k)
+				{
+					b3BodyDef bdef;
+					bdef.type = b3BodyType::e_dynamicBody;
+					
+					bdef.position.x = (2.0f + separation) * float32(i) * (0.5f * height + radius);
+					bdef.position.y = (2.0f + separation) * float32(j) * radius;
+					bdef.position.z = (2.0f + separation) * float32(k) * radius;
+					
+					bdef.orientation = b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), 0.5f * B3_PI);
+					
+					b3Body* body = m_world.CreateBody(bdef);
+					bs[n++] = body;
+
+					b3Shape* shape = body->CreateShape(sdef);
+
+					b3AABB3 aabb2;
+					shape->ComputeAABB(&aabb2, body->GetTransform());
+
+					aabb = b3Combine(aabb, aabb2);
+				}
+			}
+		}
+
+		b3Vec3 center = aabb.Centroid();
+		
+		for (u32 i = 0; i < n; ++i)
+		{
+			b3Body* b = bs[i];
+			const b3Vec3& p = b->GetSweep().worldCenter;
+			const b3Quat& q = b->GetSweep().orientation;
+
+			// centralize
+			b3Vec3 position = p - center;
+			
+			// move up
+			position.y += 0.5f * aabb.Height() + radius;
+
+			// maintain orientation
+			b3Vec3 axis;
+			float32 angle;
+			q.GetAxisAngle(&axis, &angle);
+			b->SetTransform(position, axis, angle);
+		}
+	}
+
+	static Test* Create()
+	{
+		return new CapsuleStack();
+	}
+};
+
+#endif