add hello world example and edit source tree

examples/testbed/tests/cluster_test.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 CLUSTER_H
+#define CLUSTER_H
+
+#include <bounce/dynamics/contacts/contact_cluster.h>
+
+extern DebugDraw* g_debugDraw;
+extern Camera g_camera;
+
+class Cluster : public Test
+{
+public:
+	Cluster()
+	{
+		g_camera.m_zoom = 10.0f;
+
+		// Initialize observations
+		b3StackArray<b3Observation, 256> tempObservations;
+		tempObservations.Resize(90);
+		for (u32 i = 0; i < tempObservations.Count(); ++i)
+		{
+			float32 x = RandomFloat(-1.0f, 1.0f);
+			float32 y = RandomFloat(-1.0f, 1.0f);
+			float32 z = RandomFloat(-1.0f, 1.0f);
+			
+			tempObservations[i].point.Set(x, y, z);
+			tempObservations[i].point = b3Normalize(tempObservations[i].point);
+			tempObservations[i].cluster = 0xFFFFFFFF;
+		}
+		
+		// Initialize clusters
+		b3StackArray<b3Cluster, 3> tempClusters;
+		b3InitializeClusters(tempClusters, tempObservations);
+
+		// Clusterize
+		b3Clusterize(m_clusters, m_observs, tempClusters, tempObservations);
+
+		for (u32 i = 0; i < m_clusters.Count(); ++i)
+		{
+			m_colors[i] = b3Color(RandomFloat(0.0f, 1.0f), RandomFloat(0.0f, 1.0f), RandomFloat(0.0f, 1.0f));
+		}
+	}
+
+	void Step()
+	{
+		for (u32 i = 0; i < m_clusters.Count(); ++i)
+		{
+			g_debugDraw->DrawSegment(b3Vec3(0, 0, 0), m_clusters[i].centroid, b3Color(1, 1, 1));
+			g_debugDraw->DrawPoint(m_clusters[i].centroid, 4.0f, m_colors[i]);
+
+			for (u32 j = 0; j < m_observs.Count(); ++j)
+			{
+				b3Observation obs = m_observs[j];
+				if (obs.cluster == i)
+				{
+					g_debugDraw->DrawPoint(obs.point, 4.0f, m_colors[i]);
+				}
+			}
+		}
+	}
+
+	static Test* Create()
+	{
+		return new Cluster();
+	}
+
+	b3StackArray<b3Observation, 256> m_observs;
+	b3StackArray<b3Cluster, 3> m_clusters;
+	b3Color m_colors[3];
+};
+
+#endif