add hello world example and edit source tree

examples/testbed/tests/spring.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 SPRING_H
+#define SPRING_H
+
+class Spring : public Test
+{
+public:
+	Spring()
+	{
+		{
+			b3BodyDef bd;
+			b3Body* ground = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &hs;
+			
+			ground->CreateShape(sd);
+		}
+		
+		// Car frame shape
+		{
+			b3Transform xf;
+			xf.SetIdentity();
+			xf.rotation = b3Diagonal(2.0f, 0.5f, 5.0f);
+
+			m_frameHull.SetTransform(xf);
+		}
+
+		b3HullShape box;
+		box.m_hull = &m_frameHull;
+
+		// Wheel shape
+		b3SphereShape sphere;
+		sphere.m_center.SetZero();
+		sphere.m_radius = 1.0f;
+
+		// Car frame
+		b3Body* frame;
+		{
+			b3BodyDef bdef;
+			bdef.type = e_dynamicBody;
+			bdef.position.Set(0.0f, 10.0f, 0.0f);
+			
+			frame = m_world.CreateBody(bdef);
+
+			b3ShapeDef sdef;
+			sdef.density = 1.0f;
+			sdef.friction = 0.3f;
+			sdef.shape = &box;
+			
+			frame->CreateShape(sdef);
+		}
+		
+		b3Body* wheelLF;
+		{
+			b3BodyDef bdef;
+			bdef.type = e_dynamicBody;
+			bdef.position.Set(-1.0f, 7.0f, -4.5f);
+			bdef.fixedRotationY = true;
+
+			wheelLF = m_world.CreateBody(bdef);
+
+			b3ShapeDef sdef;
+			sdef.shape = &sphere;
+			sdef.density = 1.0f;
+			sdef.friction = 1.0f;
+			
+			wheelLF->CreateShape(sdef);
+		}
+
+		{
+			b3SpringJointDef def;
+			def.Initialize(frame, wheelLF, b3Vec3(-1.0f, 9.0f, -4.5), b3Vec3(-1.0f, 9.0f, -4.5f));
+			def.collideLinked = true;
+			def.dampingRatio = 0.5f;
+			def.frequencyHz = 4.0f;
+			
+			m_world.CreateJoint(def);
+		}
+
+		b3Body* wheelRF;
+		{
+			b3BodyDef bdef;
+			bdef.type = e_dynamicBody;
+			bdef.position.Set(1.0f, 7.0, -4.5f);
+			bdef.fixedRotationY = true;
+
+			wheelRF = m_world.CreateBody(bdef);
+
+			b3ShapeDef sdef;
+			sdef.density = 1.0f;
+			sdef.friction = 1.0f;
+			sdef.shape = &sphere;
+			
+			wheelRF->CreateShape(sdef);
+		}
+		
+		{
+			b3SpringJointDef def;
+			def.Initialize(frame, wheelRF, b3Vec3(1.0f, 9.0, -4.5), b3Vec3(1.0f, 9.0, -4.5f));
+			def.collideLinked = true;
+			def.dampingRatio = 0.5f;
+			def.frequencyHz = 4.0f;
+
+			m_world.CreateJoint(def);
+		}
+		
+		b3Body* wheelLB;
+		{
+			b3BodyDef bdef;
+			bdef.type = e_dynamicBody;
+			bdef.position.Set(-1.0f, 7.0f, 4.5f);
+			bdef.fixedRotationY = true;
+
+			wheelLB = m_world.CreateBody(bdef);
+
+			b3ShapeDef sdef;
+			sdef.shape = &sphere;
+			sdef.density = 1.0f;
+			sdef.friction = 1.0f;
+
+			wheelLB->CreateShape(sdef);
+		}
+
+		{
+			b3SpringJointDef def;
+			def.Initialize(frame, wheelLB, b3Vec3(-1.0f, 9.0f, 4.5f), b3Vec3(-1.0f, 9.0f, 4.5f));
+			def.collideLinked = true;
+			def.dampingRatio = 0.8f;
+			def.frequencyHz = 4.0f;
+
+			m_world.CreateJoint(def);
+		}
+
+		b3Body* wheelRB;
+		{
+			b3BodyDef bdef;
+			bdef.type = e_dynamicBody;
+			bdef.position.Set(1.0f, 7.0f, 4.5f);
+			bdef.fixedRotationY = true;
+
+			wheelRB = m_world.CreateBody(bdef);
+
+			b3ShapeDef sdef;
+			sdef.density = 1.0f;
+			sdef.friction = 1.0f;
+			sdef.shape = &sphere;
+
+			wheelRB->CreateShape(sdef);
+		}
+
+		{
+			b3SpringJointDef def;
+			def.Initialize(frame, wheelRB, b3Vec3(1.0f, 9.0f, 4.5f), b3Vec3(1.0f, 9.0f, 4.5f));
+			def.collideLinked = true;
+			def.frequencyHz = 4.0f;
+			def.dampingRatio = 0.8f;
+
+			m_world.CreateJoint(def);
+		}
+	}
+
+	static Test* Create()
+	{
+		return new Spring();
+	}
+
+	b3BoxHull m_frameHull;
+};
+
+#endif