first commit

2016-12-18 18:39:47 -02:00
commit 8f29bc7e21
232 changed files with 103257 additions and 0 deletions
--- a/include/testbed/tests/body_types.h
+++ b/include/testbed/tests/body_types.h
@ -0,0 +1,245 @@
+/*
+* 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 BODY_TYPES_H
+#define BODY_TYPES_H
+
+class BodyTypes : public Test
+{
+public:
+	BodyTypes()
+	{
+		g_camera.m_zoom = 50.0f;
+
+		{
+			b3BodyDef bd;
+			b3Body* ground = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &hs;
+
+			ground->CreateShape(sd);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = b3BodyType::e_dynamicBody;
+			bd.position.Set(0.0f, 3.5f, 0.0f);
+			bd.linearVelocity.Set(0.0f, 0.0f, 0.0f);
+			bd.angularVelocity.Set(0.0f, B3_PI, 0.0f);
+
+			m_body = m_world.CreateBody(bd);
+
+			b3CapsuleShape cap;
+			cap.m_centers[0].Set(0.0f, 2.0f, 0.0f);
+			cap.m_centers[1].Set(0.0f, -2.0f, 0.0f);
+			cap.m_radius = 0.5f;
+
+			b3ShapeDef sd;
+			sd.shape = &cap;
+			sd.density = 1.5f;
+			sd.friction = 0.7f;
+
+			m_body->CreateShape(sd);
+		}
+	}
+
+	void Step()
+	{
+		Test::Step();
+
+		b3Color color(1.0f, 1.0f, 1.0f);
+		g_debugDraw->DrawString("S - Static", color);
+		g_debugDraw->DrawString("D - Dynamic", color);
+		g_debugDraw->DrawString("K - Kinematic", color);
+		g_debugDraw->DrawString("Space - Throw Bomb", color);
+		g_debugDraw->DrawString("Arrows - Apply Force/Velocity/Position", color);
+	}
+
+	void KeyDown(int button) 
+	{
+		if (button == GLFW_KEY_S)
+		{
+			m_body->SetType(e_staticBody);
+		}
+		
+		if (button == GLFW_KEY_K)
+		{
+			m_body->SetType(e_kinematicBody);
+		}
+
+		if (button == GLFW_KEY_D)
+		{
+			m_body->SetType(e_dynamicBody);
+		}
+
+		if (button == GLFW_KEY_SPACE)
+		{
+			b3BodyDef bd;
+			bd.type = b3BodyType::e_dynamicBody;
+			bd.position.Set(RandomFloat(-20.0f, 20.0f), RandomFloat(10.0f, 20.0f), RandomFloat(-20.0f, 20.0f));
+
+			b3Vec3 n = m_body->GetTransform().position - bd.position;
+			n.Normalize();
+
+			bd.linearVelocity = 100.0f * n;
+
+			b3Body* enemy = m_world.CreateBody(bd);
+
+			b3SphereShape shape;
+			shape.m_center.Set(0.0f, 0.0f, 0.0f);
+			shape.m_radius = 0.5f;
+
+			b3ShapeDef sd;
+			sd.shape = &shape;
+			sd.density = 1.0f;
+			sd.friction = 1.0f;
+
+			enemy->CreateShape(sd);
+		}
+
+		if (m_body->GetType() == e_staticBody)
+		{
+			if (button == GLFW_KEY_LEFT)
+			{
+				b3Vec3 p = m_body->GetSweep().worldCenter;
+				b3Quat q = m_body->GetSweep().orientation;
+				
+				p.x -= 1.0f;
+
+				m_body->SetTransform(p, b3Vec3(q.x, q.y, q.z), q.w);
+			}
+
+			if (button == GLFW_KEY_RIGHT)
+			{
+				b3Vec3 p = m_body->GetSweep().worldCenter;
+				b3Quat q = m_body->GetSweep().orientation;
+
+				p.x += 1.0f;
+
+				m_body->SetTransform(p, b3Vec3(q.x, q.y, q.z), q.w);
+			}
+
+			if (button == GLFW_KEY_UP)
+			{
+				b3Vec3 p = m_body->GetSweep().worldCenter;
+				b3Quat q = m_body->GetSweep().orientation;
+
+				p.z += 1.0f;
+
+				m_body->SetTransform(p, b3Vec3(q.x, q.y, q.z), q.w);
+			}
+
+			if (button == GLFW_KEY_DOWN)
+			{
+				b3Vec3 p = m_body->GetSweep().worldCenter;
+				b3Quat q = m_body->GetSweep().orientation;
+
+				p.z -= 1.0f;
+
+				m_body->SetTransform(p, b3Vec3(q.x, q.y, q.z), q.w);
+			}
+		}
+
+		if (m_body->GetType() == e_kinematicBody)
+		{
+			if (button == GLFW_KEY_LEFT)
+			{
+				b3Vec3 v = m_body->GetLinearVelocity();
+				b3Vec3 w = m_body->GetAngularVelocity();
+
+				v.x -= 5.0f;
+				w.y -= 0.25f * B3_PI;
+
+				m_body->SetLinearVelocity(v);
+				m_body->SetAngularVelocity(w);
+			}
+
+			if (button == GLFW_KEY_RIGHT)
+			{
+				b3Vec3 v = m_body->GetLinearVelocity();
+				b3Vec3 w = m_body->GetAngularVelocity();
+
+				v.x += 5.0f;
+				w.y += 0.25f * B3_PI;
+
+				m_body->SetLinearVelocity(v);
+				m_body->SetAngularVelocity(w);
+			}
+
+			if (button == GLFW_KEY_UP)
+			{
+				b3Vec3 v = m_body->GetLinearVelocity();
+				b3Vec3 w = m_body->GetAngularVelocity();
+
+				v.z -= 5.0f;
+				w.y -= 0.25f * B3_PI;
+
+				m_body->SetLinearVelocity(v);
+				m_body->SetAngularVelocity(w);
+			}
+
+			if (button == GLFW_KEY_DOWN)
+			{
+				b3Vec3 v = m_body->GetLinearVelocity();
+				b3Vec3 w = m_body->GetAngularVelocity();
+
+				v.z += 5.0f;
+				w.y += 0.25f * B3_PI;
+
+				m_body->SetLinearVelocity(v);
+				m_body->SetAngularVelocity(w);
+			}
+		}
+
+		if (m_body->GetType() == e_dynamicBody)
+		{
+			if (button == GLFW_KEY_LEFT)
+			{
+				m_body->ApplyForceToCenter(b3Vec3(-100.0f, 0.0f, 0.0f), true);
+			}
+
+			if (button == GLFW_KEY_RIGHT)
+			{
+				m_body->ApplyForceToCenter(b3Vec3(100.0f, 0.0f, 0.0f), true);
+			}
+
+			if (button == GLFW_KEY_UP)
+			{
+				m_body->ApplyForceToCenter(b3Vec3(0.0f, 0.0f, -100.0f), true);
+			}
+
+			if (button == GLFW_KEY_DOWN)
+			{
+				m_body->ApplyForceToCenter(b3Vec3(0.0f, 0.0f, 100.0f), true);
+			}
+		}
+	}
+
+	static Test* Create()
+	{
+		return new BodyTypes();
+	}
+
+	b3Body* m_body;
+};
+
+#endif
--- a/include/testbed/tests/box_stack.h
+++ b/include/testbed/tests/box_stack.h
@ -0,0 +1,97 @@
+/*
+* 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 BOX_STACK_H
+#define BOX_STACK_H
+
+class BoxStack : public Test
+{
+public:
+	enum
+	{
+		e_rowCount = 1,
+		e_columnCount = 5,
+		e_depthCount = 1
+	};
+
+	BoxStack()
+	{
+		g_camera.m_center.Set(2.5f, -2.0f, 5.5f);
+		g_camera.m_zoom = 40.0f;
+
+		{
+			b3BodyDef bdef;
+			bdef.type = b3BodyType::e_staticBody;
+			
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+			sdef.userData = nullptr;
+			sdef.friction = 1.0f;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}		
+
+		b3Vec3 stackOrigin;
+		stackOrigin.Set(0.0f, 4.05f, 0.0f);
+
+		b3Vec3 boxScale;
+		boxScale.Set(2.05f, 2.05f, 2.05f);
+
+		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 = float32(i) * boxScale.x;
+					bdef.position.y = 1.5f * float32(j) * boxScale.y;
+					bdef.position.z = float32(k) * boxScale.z;
+					bdef.position += stackOrigin;
+
+					b3Body* body = m_world.CreateBody(bdef);
+
+					b3HullShape hs;
+					hs.m_hull = &m_boxHull;
+
+					b3ShapeDef sdef;
+					sdef.density = 0.5f;
+					sdef.friction = 0.3f;
+					sdef.shape = &hs;
+					sdef.userData = nullptr;
+
+					b3Shape* shape = body->CreateShape(sdef);
+				}
+			}
+		}
+	}
+
+	static Test* Create()
+	{
+		return new BoxStack();
+	}
+};
+
+#endif
--- a/include/testbed/tests/capsule_and_hull_collision.h
+++ b/include/testbed/tests/capsule_and_hull_collision.h
@ -0,0 +1,60 @@
+/*
+* 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_HULL_H
+#define CAPSULE_HULL_H
+
+class CapsuleAndHull : public Collide
+{
+public:
+	CapsuleAndHull()
+	{
+		m_xfA.position.Set(0.0f, 0.0f, 0.0f);
+		m_xfA.rotation = b3ConvertQuatToRot(b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), 0.55f * B3_PI));
+		
+		m_sA.m_centers[0].Set(0.0f, -1.0f, 0.0f);
+		m_sA.m_centers[1].Set(0.0f, 1.0f, 0.0f);
+		m_sA.m_radius = 2.0f;
+
+		m_xfB.position.Set(0.f, 0.0f, 0.0f);
+		m_xfB.rotation = b3ConvertQuatToRot(b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), 0.0f * B3_PI));
+
+		b3Transform xf;
+		xf.SetIdentity();
+		xf.rotation = b3Diagonal(4.0f, 1.0f, 4.0f);
+
+		m_box.SetTransform(xf);
+
+		m_sB.m_hull = &m_box;
+
+		m_shapeA = &m_sA;
+		m_shapeB = &m_sB;
+		m_cache.count = 0;
+	}
+
+	static Test* Create()
+	{
+		return new CapsuleAndHull();
+	}
+
+	b3CapsuleShape m_sA;
+	b3HullShape m_sB;
+	b3BoxHull m_box;
+};
+
+#endif
--- a/include/testbed/tests/capsule_collision.h
+++ b/include/testbed/tests/capsule_collision.h
@ -0,0 +1,57 @@
+/*
+* 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_COLLISION_H
+#define CAPSULE_COLLISION_H
+
+class CapsuleCollision : public Collide
+{
+public:
+	CapsuleCollision()
+	{
+		m_xfA.SetIdentity();
+		m_xfA.position.Set(0.0f, 0.0f, 0.0f);
+		//m_xfA.rotation = b3ConvertQuatToRot(b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), 0.25f * B3_PI));
+		m_xfA.rotation.SetIdentity();
+		m_sA.m_centers[0].Set(0.0f, -5.0f, 0.0f);
+		m_sA.m_centers[1].Set(0.0f, 5.0f, 0.0f);
+		m_sA.m_radius = 1.0f;
+
+		m_xfB.SetIdentity();
+		m_xfB.position.Set(0.f, 0.0f, 0.0f);
+		//m_xfB.rotation = b3ConvertQuatToRot(b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), 0.251f * B3_PI));
+		m_xfB.rotation.SetIdentity();
+		m_sB.m_centers[0].Set(0.0f, -1.0f, 0.0f);
+		m_sB.m_centers[1].Set(0.0f, 1.0f, 0.0f);
+		m_sB.m_radius = 1.0f;
+
+		m_cache.count = 0;
+		m_shapeA = &m_sA;
+		m_shapeB = &m_sB;
+	}
+
+	static Test* Create()
+	{
+		return new CapsuleCollision();
+	}
+
+	b3CapsuleShape m_sA;
+	b3CapsuleShape m_sB;
+};
+
+#endif
--- a/include/testbed/tests/capsule_distance.h
+++ b/include/testbed/tests/capsule_distance.h
@ -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.
+*/
+
+#ifndef CAPSULE_DISTANCE_H
+#define CAPSULE_DISTANCE_H
+
+extern DebugDraw* g_debugDraw;
+extern Camera g_camera;
+
+class CapsuleDistance : public Test
+{
+public:
+	CapsuleDistance()
+	{
+		g_camera.m_zoom = 25.0f;
+
+		m_xfA.SetIdentity();
+		m_xfA.position.Set(-5.0f, 0.0f, 0.0f);
+		m_xfA.rotation.SetIdentity();
+		m_shapeA.m_centers[0].Set(0.0f, -2.0f, 0.0f);
+		m_shapeA.m_centers[1].Set(0.0f, 2.0f, 0.0f);
+		m_shapeA.m_radius = 1.0f;
+
+		m_xfB.SetIdentity();
+		m_xfB.position.Set(5.0f, 0.0f, 0.0f);
+		m_xfB.rotation.SetIdentity();
+		m_shapeB.m_centers[0].Set(0.0f, -2.0f, 0.0f);
+		m_shapeB.m_centers[1].Set(0.0f, 2.0f, 0.0f);
+		m_shapeB.m_radius = 1.0f;
+	}
+
+	void Step()
+	{
+		b3Capsule edgeA;
+		edgeA.vertices[0] = m_xfA * m_shapeA.m_centers[0];
+		edgeA.vertices[1] = m_xfA * m_shapeA.m_centers[1];
+		edgeA.radius = m_shapeA.m_radius;
+
+		b3Capsule edgeB;
+		edgeB.vertices[0] = m_xfB * m_shapeB.m_centers[0];
+		edgeB.vertices[1] = m_xfB * m_shapeB.m_centers[1];
+		edgeB.radius = m_shapeB.m_radius;
+
+		b3Vec3 pointA, pointB;
+		b3ClosestPointsOnSegments(&pointA, &pointB, edgeA.vertices[0], edgeA.vertices[1], edgeB.vertices[1], edgeB.vertices[0]);
+		
+		if (b3Distance(pointA, pointB) > 0.0f)
+		{
+			g_debugDraw->DrawPoint(pointA, b3Color(1.0f, 0.0f, 0.0f));
+			g_debugDraw->DrawPoint(pointB, b3Color(1.0f, 0.0f, 0.0f));
+			
+			g_debugDraw->DrawSegment(pointA, pointB, b3Color(1.0f, 1.0f, 0.0f));
+		}
+
+		g_debugDraw->DrawTransform(m_xfA);
+		g_debugDraw->DrawTransform(m_xfB);
+
+		m_world.DrawShape(m_xfA, &m_shapeA);
+		m_world.DrawShape(m_xfB, &m_shapeB);
+	}
+
+	void KeyDown(int key)
+	{
+		if (key == GLFW_KEY_LEFT)
+		{
+			m_xfB.position.x -= 0.05f;
+		}
+
+		if (key == GLFW_KEY_RIGHT)
+		{
+			m_xfB.position.x += 0.05f;
+		}
+
+		if (key == GLFW_KEY_UP)
+		{
+			m_xfB.position.y += 0.05f;
+		}
+
+		if (key == GLFW_KEY_DOWN)
+		{
+			m_xfB.position.y -= 0.05f;
+		}
+
+		if (key == GLFW_KEY_X)
+		{
+			b3Quat qx(b3Vec3(1.0f, 0.0f, 0.0f), 0.05f * B3_PI);
+			b3Mat33 xfx = b3ConvertQuatToRot(qx);
+
+			m_xfB.rotation = m_xfB.rotation * xfx;
+		}
+
+		if (key == GLFW_KEY_Y)
+		{
+			b3Quat qy(b3Vec3(0.0f, 1.0f, 0.0f), 0.05f * B3_PI);
+			b3Mat33 xfy = b3ConvertQuatToRot(qy);
+
+			m_xfB.rotation = m_xfB.rotation * xfy;
+		}
+	}
+
+	static Test* Create()
+	{
+		return new CapsuleDistance();
+	}
+
+	b3CapsuleShape m_shapeA;
+	b3Transform m_xfA;
+	
+	b3CapsuleShape m_shapeB;
+	b3Transform m_xfB;
+};
+
+#endif
--- a/include/testbed/tests/capsule_stack.h
+++ b/include/testbed/tests/capsule_stack.h
@ -0,0 +1,75 @@
+/*
+* 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:
+	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;
+			sd.density = 0.0f;
+			sd.friction = 1.0f;
+			sd.restitution = 0.0f;
+			
+			b3Shape* shape = body->CreateShape(sd);
+		}
+				
+		for (float32 y = 2.5f; y < 20.0f; y += 2.5f)
+		{
+			b3BodyDef bdef;
+			bdef.orientation = b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), 0.5f * B3_PI);
+			bdef.position.Set(0.0f, y, 0.0f);
+			bdef.linearVelocity.Set(0.0f, -1.0f, 0.0f);
+			bdef.type = b3BodyType::e_dynamicBody;
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3CapsuleShape capsule;
+			capsule.m_centers[0].Set(0.0f, -1.0f, 0.0f);
+			capsule.m_centers[1].Set(0.0f, 1.0f, 0.0f);
+			capsule.m_radius = 1.0f;
+
+			b3ShapeDef sdef;
+			sdef.shape = &capsule;
+			sdef.density = 1.0f;
+			sdef.friction = 0.3f;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+	}
+
+	static Test* Create()
+	{
+		return new CapsuleStack();
+	}
+};
+
+#endif
--- a/include/testbed/tests/character_test.h
+++ b/include/testbed/tests/character_test.h
@ -0,0 +1,102 @@
+/*
+* 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 CHARACTER_H
+#define CHARACTER_H
+
+class Character : public Test
+{
+public:
+	Character()
+	{
+		{
+			b3BodyDef bdef;
+			b3Body* ground = m_world.CreateBody(bdef);
+
+			b3MeshShape ms;
+			ms.m_mesh = m_meshes + e_gridMesh;
+
+			b3ShapeDef sd;
+			sd.shape = &ms;
+			
+			ground->CreateShape(sd);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.type = b3BodyType::e_dynamicBody;
+			bdef.fixedRotationY = true;
+			bdef.position.Set(0.0f, 5.0f, 0.0f);
+			
+			m_character = m_world.CreateBody(bdef);
+
+			b3CapsuleShape cap;
+			cap.m_centers[0].Set(0.0f, 1.0f, 0.0f);
+			cap.m_centers[1].Set(0.0f, -1.0f, 0.0f);
+			cap.m_radius = 1.0f;
+
+			b3ShapeDef sdef;
+			sdef.shape = &cap;
+			sdef.density = 1.0f;
+			sdef.friction = 0.5f;
+
+			m_character->CreateShape(sdef);
+		}
+	}
+
+	void RayHit()
+	{
+		if (m_rayHit.m_shape)
+		{
+			if (m_rayHit.m_shape->GetBody() != m_character)
+			{
+				Test::RayHit();
+			}
+		}
+	}
+
+	void Step()
+	{
+		if (m_rayHit.m_shape)
+		{
+			if (m_rayHit.m_shape->GetBody() != m_character)
+			{
+				b3Vec3 point = m_rayHit.m_point;
+				b3Vec3 normal = m_rayHit.m_normal;
+
+				const b3Transform& xf = m_character->GetTransform();
+				b3Vec3 n = point - xf.position;
+				n.Normalize();
+				
+				m_character->ApplyForceToCenter(100.0f * n, true);
+				g_debugDraw->DrawSolidCircle(normal, point + (0.05f * normal), 5.0f, b3Color(0.5f, 0.5f, 1.0f, 0.5f));
+			}
+		}
+
+		Test::Step();
+	}
+
+	static Test* Create()
+	{
+		return new Character();
+	}
+
+	b3Body* m_character;
+};
+
+#endif
--- a/include/testbed/tests/cluster_test.h
+++ b/include/testbed/tests/cluster_test.h
@ -0,0 +1,89 @@
+/*
+* 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, 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, m_colors[i]);
+				}
+			}
+		}
+	}
+
+	static Test* Create()
+	{
+		return new Cluster();
+	}
+
+	b3StackArray<b3Observation, 256> m_observs;
+	b3StackArray<b3Cluster, 3> m_clusters;
+	b3Color m_colors[3];
+};
+
+#endif
--- a/include/testbed/tests/collide_test.h
+++ b/include/testbed/tests/collide_test.h
@ -0,0 +1,118 @@
+/*
+* 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 COLLIDE_H
+#define COLLIDE_H
+
+extern DebugDraw* g_debugDraw;
+extern Camera g_camera;
+extern Settings g_settings;
+
+class Collide : public Test
+{
+public:
+	Collide()
+	{
+		g_camera.m_zoom = 25.0f;
+	}
+
+	void Step()
+	{
+		b3ConvexCache cache;
+		cache.simplexCache.count = 0;
+		cache.featureCache.m_featurePair.state = b3SATCacheType::e_empty;
+
+		b3Manifold manifold;
+		manifold.GuessImpulses();
+
+		b3CollideShapeAndShape(manifold, m_xfA, m_shapeA, m_xfB, m_shapeB, &cache);
+
+		b3WorldManifold wm;
+		wm.Initialize(&manifold, m_xfA, m_shapeA->m_radius, m_xfB, m_shapeB->m_radius);
+		
+		for (u32 i = 0; i < wm.pointCount; ++i)
+		{
+			b3WorldManifoldPoint* wmp = wm.points + i;
+			b3Vec3 pw = wmp->point;
+			b3Vec2 ps = g_camera.ConvertWorldToScreen(pw);
+			
+			g_debugDraw->DrawPoint(pw, b3Color(0.0f, 1.0f, 0.0f));
+			g_debugDraw->DrawSegment(pw, pw + wmp->normal, b3Color(1.0f, 1.0f, 1.0f));
+		}
+
+		if (wm.pointCount > 0)
+		{
+			g_debugDraw->DrawPoint(wm.center, b3Color(1.0f, 1.0f, 0.0f));
+			g_debugDraw->DrawSegment(wm.center, wm.center + wm.normal, b3Color(1.0f, 1.0f, 0.0f));
+			g_debugDraw->DrawSegment(wm.center, wm.center + wm.tangent1, b3Color(1.0f, 1.0f, 0.0f));
+			g_debugDraw->DrawSegment(wm.center, wm.center + wm.tangent2, b3Color(1.0f, 1.0f, 0.0f));
+		}
+		
+		m_world.DrawShape(m_xfA, m_shapeA);
+		m_world.DrawShape(m_xfB, m_shapeB);
+	}
+
+	virtual void KeyDown(int key)
+	{
+		if (key == GLFW_KEY_LEFT)
+		{
+			m_xfB.position.x -= 0.05f;
+		}
+
+		if (key == GLFW_KEY_RIGHT)
+		{
+			m_xfB.position.x += 0.05f;
+		}
+		
+		if (key == GLFW_KEY_UP)
+		{
+			m_xfB.position.y += 0.05f;
+		}
+		
+		if (key == GLFW_KEY_DOWN)
+		{
+			m_xfB.position.y -= 0.05f;
+		}
+
+		if (key == GLFW_KEY_X)
+		{
+			b3Quat qx(b3Vec3(1.0f, 0.0f, 0.0f), 0.05f * B3_PI);
+			b3Mat33 xfx = b3ConvertQuatToRot(qx);
+
+			m_xfB.rotation = m_xfB.rotation * xfx;
+		}
+
+		if (key == GLFW_KEY_Y)
+		{
+			b3Quat qy(b3Vec3(0.0f, 1.0f, 0.0f), 0.05f * B3_PI);
+			b3Mat33 xfy = b3ConvertQuatToRot(qy);
+
+			m_xfB.rotation = m_xfB.rotation * xfy;
+		}
+	}
+
+	b3Shape* m_shapeA;
+	b3Transform m_xfA;
+	
+	b3Shape* m_shapeB;
+	b3Transform m_xfB;
+	
+	b3SimplexCache m_cache;
+};
+
+#endif
--- a/include/testbed/tests/distance_test.h
+++ b/include/testbed/tests/distance_test.h
@ -0,0 +1,136 @@
+/*
+* 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 DISTANCE_H
+#define DISTANCE_H
+
+extern DebugDraw* g_debugDraw;
+extern Camera g_camera;
+extern Settings g_settings;
+
+class Distance : public Test
+{
+public:
+	Distance()
+	{	
+		g_camera.m_zoom = 25.0f;
+		
+		m_xfA.SetIdentity();
+		m_xfA.position.Set(-5.0f, 0.0f, 0.0f);
+		m_xfA.rotation.SetIdentity();
+		m_shapeA.m_centers[0].Set(0.0f, -2.0f, 0.0f);
+		m_shapeA.m_centers[1].Set(0.0f, 2.0f, 0.0f);
+		m_shapeA.m_radius = 1.0f;
+
+		m_xfB.SetIdentity();
+		m_xfB.position.Set(5.0f, 0.0f, 0.0f);
+		m_xfB.rotation.SetIdentity();
+		m_shapeB.m_hull = &m_boxHull;
+
+		m_proxyA.Set(&m_shapeA, 0);
+		m_proxyB.Set(&m_shapeB, 0);
+		m_cache.count = 0;
+	}
+
+	void Step()
+	{
+		b3GJKOutput out = b3GJK(m_xfA, m_proxyA, m_xfB, m_proxyB, false, &m_cache);
+		if (0 < m_cache.count && m_cache.count < 4)
+		{
+			b3GJKFeaturePair featurePair = b3GetFeaturePair(m_cache);
+
+			for (u32 i = 0; i < (u32)featurePair.typeA; ++i)
+			{
+				u32 index = featurePair.indexA[i];
+				g_debugDraw->DrawPoint(m_xfA * m_proxyA.GetVertex(index), b3Color(1.0f, 1.0f, 0.0f));
+			}
+
+			for (u32 i = 0; i < (u32)featurePair.typeB; ++i)
+			{
+				u32 index = featurePair.indexB[i];
+				g_debugDraw->DrawPoint(m_xfB * m_proxyB.GetVertex(index), b3Color(1.0f, 1.0f, 0.0f));
+			}
+		}
+		
+		g_debugDraw->DrawPoint(out.pointA, b3Color(0.0f, 1.0f, 0.0f));
+		g_debugDraw->DrawPoint(out.pointB, b3Color(0.0f, 1.0f, 0.0f));
+		g_debugDraw->DrawSegment(out.pointA, out.pointB, b3Color(1.0f, 1.0f, 1.0f));
+
+		g_debugDraw->DrawTransform(m_xfA);
+		g_debugDraw->DrawTransform(m_xfB);
+		
+		m_world.DrawShape(m_xfA, &m_shapeA);
+		m_world.DrawShape(m_xfB, &m_shapeB);
+	}
+
+	void KeyDown(int key)
+	{
+		if (key == GLFW_KEY_LEFT)
+		{
+			m_xfB.position.x -= 0.05f;
+		}
+		
+		if (key == GLFW_KEY_RIGHT)
+		{
+			m_xfB.position.x += 0.05f;
+		}
+		
+		if (key == GLFW_KEY_UP)
+		{
+			m_xfB.position.y += 0.05f;
+		}
+
+		if (key == GLFW_KEY_DOWN)
+		{
+			m_xfB.position.y -= 0.05f;
+		}
+
+		if (key == GLFW_KEY_X)
+		{
+			b3Quat qx(b3Vec3(1.0f, 0.0f, 0.0f), 0.05f * B3_PI);
+			b3Mat33 xfx = b3ConvertQuatToRot(qx);
+
+			m_xfB.rotation = m_xfB.rotation * xfx;
+		}
+		
+		if (key == GLFW_KEY_Y)
+		{
+			b3Quat qy(b3Vec3(0.0f, 1.0f, 0.0f), 0.05f * B3_PI);
+			b3Mat33 xfy = b3ConvertQuatToRot(qy);
+
+			m_xfB.rotation = m_xfB.rotation * xfy;
+		}
+	}
+
+	static Test* Create()
+	{
+		return new Distance();
+	}
+
+	b3CapsuleShape m_shapeA;
+	b3Transform m_xfA;
+	b3ShapeGJKProxy m_proxyA;
+
+	b3HullShape m_shapeB;
+	b3Transform m_xfB;
+	b3ShapeGJKProxy m_proxyB;
+	
+	b3SimplexCache m_cache;
+};
+
+#endif
--- a/include/testbed/tests/hinge_chain.h
+++ b/include/testbed/tests/hinge_chain.h
@ -0,0 +1,90 @@
+/*
+* 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 HINGE_CHAIN_H
+#define HINGE_CHAIN_H
+
+class HingeChain : public Test
+{
+public:
+	HingeChain()
+	{
+		g_camera.m_zoom = 100.0f;
+		g_camera.m_q = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), 0.15f * B3_PI);
+		g_camera.m_q = g_camera.m_q * b3Quat(b3Vec3(1.0f, 0.0f, 0.0f), -0.15f * B3_PI);
+		g_camera.m_center.SetZero();
+
+		float32 x = -50.0f;
+		float32 y = 0.0f;
+
+		b3Body* lastHinge;
+		{
+			b3BodyDef bd;
+			bd.position.Set(x, y, 0.0f);
+			lastHinge = m_world.CreateBody(bd);
+
+			b3HullShape hull;
+			hull.m_hull = &m_doorHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hull;
+			
+			lastHinge->CreateShape(sdef);
+		}
+		
+		x += 4.25f;
+
+		for (u32 i = 0; i < 20; ++i) 
+		{
+			b3BodyDef bd;
+			bd.type = e_dynamicBody;
+			bd.position.Set(x, y, 0.0f);
+			b3Body* hinge = m_world.CreateBody(bd);
+
+			b3HullShape hull;
+			hull.m_hull = &m_doorHull;
+			
+			b3ShapeDef sdef;
+			sdef.shape = &hull;
+			sdef.density = 1.0f;
+
+			hinge->CreateShape(sdef);
+			
+			{
+				b3Vec3 hingeAxis(0.0f, 1.0f, 0.0f);
+				b3Vec3 hingeAnchor(x - 2.25f, y, 0.0f);
+
+				b3RevoluteJointDef jd;
+				jd.Initialize(lastHinge, hinge, hingeAxis, hingeAnchor, 0.0f, 0.5f * B3_PI);
+				jd.collideLinked = true;
+
+				b3RevoluteJoint* rj = (b3RevoluteJoint*)m_world.CreateJoint(jd);
+			} 
+			
+			x += 4.25f;
+			lastHinge = hinge;
+		}
+	}
+
+	static Test* Create()
+	{
+		return new HingeChain();
+	}
+};
+
+#endif
--- a/include/testbed/tests/hinge_motor.h
+++ b/include/testbed/tests/hinge_motor.h
@ -0,0 +1,127 @@
+/*
+* 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 HINGE_MOTOR_H
+#define HINGE_MOTOR_H
+
+class HingeMotor : public Test
+{
+public:
+	HingeMotor()
+	{
+		{
+			b3BodyDef bd;
+			b3Body* ground = m_world.CreateBody(bd);
+
+			b3HullShape shape;
+			shape.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &shape;
+			
+			ground->CreateShape(sd);
+		}
+
+		b3Body* hinge, *door;
+
+		{
+			b3BodyDef bd;
+			bd.position.Set(-2.0f, 5.05f, 0.0f);
+			hinge = m_world.CreateBody(bd);
+
+			b3CapsuleShape shape;
+			shape.m_centers[0].Set(0.0f, -3.5f, 0.0f);
+			shape.m_centers[1].Set(0.0f, 3.5f, 0.0f);
+			shape.m_radius = 0.5f;
+
+			b3ShapeDef sd;
+			sd.shape = &shape;
+			sd.density = 1.0f;
+
+			hinge->CreateShape(sd);
+			m_hinge = hinge;
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = b3BodyType::e_dynamicBody;
+			bd.position.Set(1.0f, 5.05f, 0.0f);
+
+			door = m_world.CreateBody(bd);
+
+			b3HullShape hull;
+			hull.m_hull = &m_doorHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hull;
+			sdef.density = 2.0f;
+			
+			door->CreateShape(sdef);
+		}
+		
+		{
+			b3Vec3 hingeAxis(0.0f, 1.0f, 0.0f);
+			b3Vec3 hingeAnchor(-2.0f, 5.0f, 0.0f);
+			
+			b3RevoluteJointDef jd;
+			jd.Initialize(hinge, door, hingeAxis, hingeAnchor, 0.0f, 0.5f * B3_PI);
+			jd.motorSpeed = B3_PI;
+			jd.maxMotorTorque = 10000.0f;
+			
+			m_rj = (b3RevoluteJoint*)m_world.CreateJoint(jd);
+		}
+	}
+
+	void KeyDown(int button)
+	{
+		if (button == GLFW_KEY_M)
+		{
+			m_rj->SetEnableMotor(!m_rj->IsMotorEnabled());
+		}
+
+		if (button == GLFW_KEY_L)
+		{
+			m_rj->SetEnableLimit(!m_rj->IsLimitEnabled());
+		}
+		
+		if (button == GLFW_KEY_D)
+		{
+			m_hinge->SetType(e_dynamicBody);
+		}
+
+		if (button == GLFW_KEY_S)
+		{
+			m_hinge->SetType(e_staticBody);
+		}
+
+		if (button == GLFW_KEY_K)
+		{
+			m_hinge->SetType(e_kinematicBody);
+		}
+	}
+
+	static Test* Create()
+	{
+		return new HingeMotor();
+	}
+
+	b3Body* m_hinge;
+	b3RevoluteJoint* m_rj;
+};
+
+#endif
--- a/include/testbed/tests/hull_collision.h
+++ b/include/testbed/tests/hull_collision.h
@ -0,0 +1,58 @@
+/*
+* 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 HULL_HULL_H
+#define HULL_HULL_H
+
+class HullAndHull : public Collide
+{
+public:
+	HullAndHull()
+	{
+		b3Transform xf;
+		xf.rotation = b3Diagonal(1.0f, 2.0f, 1.0f);
+		xf.position.SetZero();
+
+		m_box.SetTransform(xf);
+
+		b3Quat qA(0.0f, 1.0f, 0.0f, 0.025f * B3_PI);
+		m_xfA.SetIdentity();
+		m_xfA.position.Set(0.0186814368f, 1.96078217f, 0.0253920462f);
+		m_xfA.rotation = b3ConvertQuatToRot(qA);
+		m_sA.m_hull = &m_box;
+		
+		m_xfB.SetIdentity();
+		m_xfB.position.Set(0.f, 0.0f, 0.0f);
+		m_sB.m_hull = &m_box;
+
+		m_cache.count = 0;
+		m_shapeA = &m_sA;
+		m_shapeB = &m_sB;
+	}
+
+	static Test* Create()
+	{
+		return new HullAndHull();
+	}
+
+	b3BoxHull m_box;
+	b3HullShape m_sA;
+	b3HullShape m_sB;
+};
+
+#endif
--- a/include/testbed/tests/jenga.h
+++ b/include/testbed/tests/jenga.h
@ -0,0 +1,114 @@
+/*
+* 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 JENGA_H
+#define JENGA_H
+
+class Jenga : public Test
+{
+public:
+	enum
+	{
+		e_layerCount = 20,
+		e_depthCount = 3,
+	};
+
+	Jenga()
+	{
+		g_camera.m_center.Set(2.0f, -2.0f, 0.0f);
+		g_camera.m_zoom = 60.0f;
+
+		{
+			b3BodyDef bd;
+			b3Body* body = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &hs;
+
+			body->CreateShape(sd);
+		}
+
+		b3Vec3 boxScale;
+		boxScale.Set(1.0f, 0.5f, 3.0f);
+
+		float32 y = 2.0f;
+
+		for (u32 i = 0; i < e_layerCount / 2; ++i)
+		{
+			for (u32 j = 0; j < e_depthCount; ++j)
+			{
+				b3BodyDef bd;
+				bd.type = b3BodyType::e_dynamicBody;
+
+				bd.position.x = 2.0f * float32(j) * boxScale.x;
+				bd.position.y = y;
+				bd.position.z = 0.0f;
+				
+				b3Body* body = m_world.CreateBody(bd);
+
+				b3HullShape hs;
+				hs.m_hull = &m_plankHull;
+
+				b3ShapeDef sd;
+				sd.shape = &hs;
+				sd.density = 0.1f;
+				sd.friction = 0.1f;
+
+				body->CreateShape(sd);
+			}
+
+			y += 2.05f * boxScale.y;
+
+			for (u32 j = 0; j < e_depthCount; ++j)
+			{
+				b3BodyDef bd;
+				bd.type = b3BodyType::e_dynamicBody;
+
+				bd.orientation.Set(b3Vec3(0.0f, 1.0f, 0.0f), 0.5f * B3_PI);
+
+				bd.position.x = 2.0f * boxScale.x;
+				bd.position.y = y;
+				bd.position.z = -2.0f * boxScale.x + 2.0f * float32(j) * boxScale.x;
+				
+				b3Body* body = m_world.CreateBody(bd);
+
+				b3HullShape hs;
+				hs.m_hull = &m_plankHull;
+
+				b3ShapeDef sd;
+				sd.shape = &hs;
+				sd.density = 0.1f;
+				sd.friction = 0.1f;
+
+				body->CreateShape(sd);
+			}
+
+			y += 2.05f * boxScale.y;
+		}
+	}
+
+	static Test* Create()
+	{
+		return new Jenga();
+	}
+};
+
+#endif
--- a/include/testbed/tests/mesh_contact_test.h
+++ b/include/testbed/tests/mesh_contact_test.h
@ -0,0 +1,176 @@
+/*
+* 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 MESH_TEST_H
+#define MESH_TEST_H
+
+class MeshContactTest : public Test
+{
+public:
+	MeshContactTest()
+	{
+		{
+			b3BodyDef bd;
+			m_ground = m_world.CreateBody(bd);
+
+			b3MeshShape ms;
+			ms.m_mesh = m_meshes + e_gridMesh;
+
+			b3ShapeDef sd;
+			sd.shape = &ms;
+
+			m_ground->CreateShape(sd);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = b3BodyType::e_dynamicBody;
+			bd.position.Set(0.0f, 5.0f, 0.0f);
+
+			m_body = m_world.CreateBody(bd);
+			
+			{
+				b3SphereShape sphere;
+				sphere.m_center.SetZero();
+				sphere.m_radius = 1.0f;
+
+				b3ShapeDef sd;
+				sd.shape = &sphere;
+				sd.density = 1.0f;
+				sd.friction = 0.5f;
+
+				m_body->CreateShape(sd);
+			}
+		}
+	}
+
+	void KeyDown(int key)
+	{
+		if (key == GLFW_KEY_S || key == GLFW_KEY_C || key == GLFW_KEY_H)
+		{
+			if (m_body)
+			{
+				m_world.DestroyBody(m_body);
+			}
+
+			b3BodyDef bd;
+			bd.type = b3BodyType::e_dynamicBody;
+			bd.position.Set(0.0f, 5.0f, 0.0f);
+
+			m_body = m_world.CreateBody(bd);
+
+			if (key == GLFW_KEY_S)
+			{
+				b3SphereShape sphere;
+				sphere.m_center.SetZero();
+				sphere.m_radius = 1.0f;
+
+				b3ShapeDef sd;
+				sd.shape = &sphere;
+				sd.density = 1.0f;
+				sd.friction = 0.5f;
+
+				m_body->CreateShape(sd);
+			}
+
+			if (key == GLFW_KEY_C)
+			{
+				b3CapsuleShape capsule;
+				capsule.m_centers[0].Set(0.0f, -1.0f, 0.0f);
+				capsule.m_centers[1].Set(0.0f, 1.0f, 0.0f);
+				capsule.m_radius = 1.0f;
+
+				b3ShapeDef sd;
+				sd.shape = &capsule;
+				sd.density = 1.0f;
+				sd.friction = 0.5f;
+
+				m_body->CreateShape(sd);
+			}
+
+			if (key == GLFW_KEY_H)
+			{
+				b3HullShape hull;
+				hull.m_hull = &m_boxHull;
+
+				b3ShapeDef sd;
+				sd.shape = &hull;
+				sd.density = 1.0f;
+				sd.friction = 0.5f;
+
+				m_body->CreateShape(sd);
+			}
+		}
+
+		if (key == GLFW_KEY_G || key == GLFW_KEY_T)
+		{
+			if (m_ground)
+			{
+				m_world.DestroyBody(m_ground);
+			}
+
+			b3BodyDef bd;
+			m_ground = m_world.CreateBody(bd);
+
+			if (key == GLFW_KEY_G)
+			{
+				b3MeshShape ms;
+				ms.m_mesh = m_meshes + e_gridMesh;
+
+				b3ShapeDef sd;
+				sd.shape = &ms;
+
+				m_ground->CreateShape(sd);
+			}
+
+			if (key == GLFW_KEY_T)
+			{
+				b3MeshShape ms;
+				ms.m_mesh = m_meshes + e_terrainMesh;
+
+				b3ShapeDef sd;
+				sd.shape = &ms;
+
+				m_ground->CreateShape(sd);
+			}
+		}
+	}
+
+	void Step()
+	{
+		Test::Step();
+
+		b3Color color(1.0f, 1.0f, 1.0f);
+		
+		g_debugDraw->DrawString("S - Sphere", color);
+		g_debugDraw->DrawString("C - Capsule", color);
+		g_debugDraw->DrawString("H - Hull", color);
+		g_debugDraw->DrawString("G - Grid", color);
+		g_debugDraw->DrawString("T - Terrain", color);
+	}
+
+	static Test* Create()
+	{
+		return new MeshContactTest();
+	}
+
+	b3Body* m_ground;
+	b3Body* m_body;
+};
+
+#endif
--- a/include/testbed/tests/newton_cradle.h
+++ b/include/testbed/tests/newton_cradle.h
@ -0,0 +1,124 @@
+/*
+* 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 NEWTON_CRADLE_H
+#define NEWTON_CRADLE_H
+
+class NewtonCradle : public Test
+{
+public:
+	NewtonCradle()
+	{
+		{
+			b3BodyDef bd;
+			b3Body* ground = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &hs;
+			
+			ground->CreateShape(sd);
+		}
+
+		b3CapsuleShape edge;
+		edge.m_centers[0].Set(0.0f, -10.0f, 0.0f);
+		edge.m_centers[1].Set(0.0f, 10.0f, 0.0f);
+		edge.m_radius = 0.5f;
+
+		b3Body* frame1, *frame2;
+
+		{
+			b3BodyDef bd;
+			bd.orientation = b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), 0.5f * B3_PI);
+			bd.position.Set(0.0f, 10.0f, -5.0f);
+
+			frame1 = m_world.CreateBody(bd);
+
+			b3ShapeDef sd;
+			sd.shape = &edge;
+
+			frame1->CreateShape(sd);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.orientation = b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), 0.5f * B3_PI);
+			bd.position.Set(0.0f, 10.0f, 5.0f);
+
+			frame2 = m_world.CreateBody(bd);
+
+			b3ShapeDef sd;
+			sd.shape = &edge;
+
+			frame2->CreateShape(sd);
+		}
+
+		b3Vec3 center;
+		center.Set(-5.0f, 4.0f, 0.0f);
+
+		b3SphereShape vertex;
+		vertex.m_center.SetZero();
+		vertex.m_radius = 1.0f;
+
+		u32 count = 6;
+		for (u32 i = 0; i < count; ++i)
+		{
+			b3BodyDef bd;
+			bd.type = e_dynamicBody;
+			bd.position = center;
+			if (i == count - 1)
+			{
+				bd.linearVelocity.x = 5.0f;
+			}
+
+			b3Body* ball = m_world.CreateBody(bd);
+
+			b3ShapeDef sd;
+			sd.shape = &vertex;
+			sd.density = 1.0f;
+			sd.friction = 0.8f;
+			
+			ball->CreateShape(sd);
+			
+			b3Vec3 c1;
+			c1.x = center.x;
+			c1.y = 10.0f;
+			c1.z = 0.0f;
+
+			b3SphereJointDef jd1;
+			jd1.bodyA = frame1;
+			jd1.collideLinked = true;
+			jd1.bodyB = ball;
+			jd1.localAnchorA = b3MulT(frame1->GetTransform(), c1);
+			jd1.localAnchorB = b3MulT(ball->GetTransform(), c1);
+			
+			m_world.CreateJoint(jd1);
+
+			center.x += 2.0f * vertex.m_radius;
+		}
+	}
+
+	static Test* Create()
+	{
+		return new NewtonCradle();
+	}
+};
+
+#endif
--- a/include/testbed/tests/pyramid.h
+++ b/include/testbed/tests/pyramid.h
@ -0,0 +1,104 @@
+/*
+* 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 PYRAMID_H
+#define PYRAMID_H
+
+class Pyramid : public Test
+{
+public:
+	enum
+	{
+		e_count = 10,
+	};
+
+	Pyramid()
+	{
+		g_camera.m_zoom = 100.0f;
+
+		{
+			b3BodyDef bd;
+			b3Body* ground = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &hs;
+
+			ground->CreateShape(sd);
+		}
+
+		b3Vec3 boxSize;
+		boxSize.Set(2.0f, 2.0f, 2.0f);
+
+		// shift to ground center
+		b3Vec3 translation;
+		translation.x = -0.5f * float32(e_count) * boxSize.x;
+		translation.y = 1.5f * boxSize.y;
+		translation.z = -0.5f * float32(e_count) * boxSize.z;
+
+		u32 count = e_count;
+		for (u32 i = 0; i < e_count; ++i)
+		{
+			u32 j0 = 0, k0 = 0;
+			for (u32 j = j0; j < count; ++j)
+			{
+				for (u32 k = k0; k < count; ++k)
+				{
+					b3BodyDef bd;
+					bd.type = b3BodyType::e_dynamicBody;
+					bd.position.x = 1.05f * float32(j) * boxSize.x;
+					bd.position.y = 0.0f;
+					bd.position.z = 1.05f * float32(k) * boxSize.z;
+					bd.position += translation;
+
+					b3Body* body = m_world.CreateBody(bd);
+
+					b3HullShape hs;
+					hs.m_hull = &m_boxHull;
+
+					b3ShapeDef sd;
+					sd.shape = &hs;
+					sd.density = 0.5f;
+					sd.friction = 0.5f;
+
+					body->CreateShape(sd);
+				}
+			}
+
+			// reduce dimension
+			++j0;
+			++k0;
+			--count;
+			
+			// increment column
+			translation.y += 1.5f * boxSize.y;
+			// track offset
+			translation.x += 0.5f * boxSize.x;
+			translation.z += 0.5f * boxSize.z;
+		}
+	}
+
+	static Test* Create()
+	{
+		return new Pyramid();
+	}
+};
+
+#endif
--- a/include/testbed/tests/pyramids.h
+++ b/include/testbed/tests/pyramids.h
@ -0,0 +1,104 @@
+/*
+* 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 PYRAMIDS_H
+#define PYRAMIDS_H
+
+class Pyramids : public Test
+{
+public:
+	enum
+	{
+		e_count = 10,
+		e_depthCount = 10,
+	};
+
+	Pyramids()
+	{
+		g_camera.m_zoom = 100.0f;
+
+		{
+			b3BodyDef bd;
+			b3Body* ground = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &hs;
+
+			ground->CreateShape(sd);
+		}
+
+		b3Vec3 boxSize;
+		boxSize.Set(2.0f, 2.0f, 2.0f);
+
+		// shift to ground center
+		b3Vec3 translation;
+		translation.x = -0.5f * float32(e_count - 1) * 4.0f * boxSize.x;
+		translation.y = 1.5f * boxSize.y;
+		translation.z = -0.5f * float32(e_depthCount) * boxSize.z;
+		
+		for (u32 i = 0; i < e_count; ++i)
+		{
+			// reset 
+			translation.y = 1.5f * boxSize.y;
+			translation.z = -0.5f * float32(e_depthCount) * boxSize.z;
+
+			for (u32 j = 0; j < e_depthCount; ++j)
+			{
+				for (u32 k = j; k < e_depthCount; ++k)
+				{
+					b3BodyDef bd;
+					bd.type = e_dynamicBody;
+					bd.position.x = 0.0f;
+					bd.position.y = 0.0f;
+					bd.position.z = 1.05f * float32(k) * boxSize.z;
+					bd.position += translation;
+
+					b3Body* body = m_world.CreateBody(bd);
+
+					b3HullShape hs;
+					hs.m_hull = &m_boxHull;
+
+					b3ShapeDef sd;
+					sd.shape = &hs;
+					sd.density = 0.5f;
+					sd.friction = 0.5f;
+
+					body->CreateShape(sd);
+				}
+
+				// increment column
+				translation.y += 1.5f * boxSize.y;
+				// track offset
+				translation.z -= 0.5f * boxSize.z;
+			}
+
+			// increment row
+			translation.x += 4.0f * boxSize.x;
+		}
+	}
+
+	static Test* Create()
+	{
+		return new Pyramids();
+	}
+};
+
+#endif
--- a/include/testbed/tests/quadrics.h
+++ b/include/testbed/tests/quadrics.h
@ -0,0 +1,127 @@
+/*
+* 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 QUADRIC_H
+#define QUADRIC_H
+
+#include <testbed\tests\quickhull_test.h>
+
+extern DebugDraw* g_debugDraw;
+extern Camera g_camera;
+extern Settings g_settings;
+
+class Quadric : public Test
+{
+public:
+	Quadric()
+	{
+		g_camera.m_zoom = 20.0f;
+		g_camera.m_q = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), 0.15f * B3_PI);
+		g_camera.m_q = g_camera.m_q * b3Quat(b3Vec3(1.0f, 0.0f, 0.0f), -0.15f * B3_PI);
+		g_camera.m_center.SetZero();
+
+		{
+			qhHull hull;
+
+			b3StackArray<b3Vec3, 32> points;
+			ConstructCone(points);
+
+			u32 size = qhGetMemorySize(points.Count());
+			void* p = b3Alloc(size);
+			hull.Construct(p, points);
+			m_coneHull = ConvertHull(hull);
+			b3Free(p);
+		}
+		
+		{
+			qhHull hull;
+
+			b3StackArray<b3Vec3, 32> points;
+			ConstructCylinder(points);
+
+			u32 size = qhGetMemorySize(points.Count());
+			void* p = b3Alloc(size);
+			hull.Construct(p, points);
+			m_cylinderHull = ConvertHull(hull);
+			b3Free(p);
+		}
+
+		{
+			b3BodyDef bd;
+			b3Body* ground = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &hs;
+
+			ground->CreateShape(sd);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.type = e_dynamicBody;
+			bdef.position.Set(2.0f, 5.0f, 0.0f);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3HullShape hull;
+			hull.m_hull = &m_coneHull;
+
+			b3ShapeDef sdef;
+			sdef.density = 0.2f;
+			sdef.friction = 0.3f;
+			sdef.shape = &hull;
+
+			body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.type = e_dynamicBody;
+			bdef.position.Set(-2.0f, 5.0f, 0.0f);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3HullShape hull;
+			hull.m_hull = &m_cylinderHull;
+
+			b3ShapeDef sdef;
+			sdef.density = 0.2f;
+			sdef.friction = 0.3f;
+			sdef.shape = &hull;
+
+			body->CreateShape(sdef);
+		}
+	}
+
+	~Quadric()
+	{
+	}
+
+	static Test* Create()
+	{
+		return new Quadric();
+	}
+
+	b3Hull m_coneHull;
+	b3Hull m_cylinderHull;
+};
+
+#endif
--- a/include/testbed/tests/quickhull_test.h
+++ b/include/testbed/tests/quickhull_test.h
@ -0,0 +1,380 @@
+/*
+* 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 QHULL_H
+#define QHULL_H
+
+#include <bounce\quickhull\qh_hull.h>
+
+extern DebugDraw* g_debugDraw;
+extern Camera g_camera;
+extern Settings g_settings;
+
+struct Pair
+{
+	void* key;
+	u8 value;
+};
+
+struct Map
+{
+	void Add(const Pair& pair)
+	{
+		m_pairs.PushBack(pair);
+	}
+
+	Pair* Find(void* key)
+	{
+		for (u32 i = 0; i < m_pairs.Count(); ++i)
+		{
+			Pair* pair = m_pairs.Get(i);
+			if (pair->key == key)
+			{
+				return pair;
+			}
+		}
+		return nullptr;
+	}
+
+	b3StackArray<Pair, 256> m_pairs;
+};
+
+#define NULL_FEATURE 0xFF
+
+inline b3Hull ConvertHull(const qhHull& hull)
+{
+	u8 V = 0;
+	u8 E = 0;
+	u8 F = 0;
+
+	qhFace* face = hull.m_faceList.head;
+	while (face)
+	{
+		qhHalfEdge* e = face->edge;
+		do
+		{
+			++E;
+			++V;
+			e = e->next;
+		} while (e != face->edge);
+
+		++F;
+		face = face->next;
+	}
+
+	u8 vertexCount = 0;
+	b3Vec3* vertices = (b3Vec3*)b3Alloc(V * sizeof(b3Vec3));
+	u8 edgeCount = 0;
+	b3HalfEdge* edges = (b3HalfEdge*)b3Alloc(E * sizeof(b3HalfEdge));
+	u8 faceCount = 0;
+	b3Face* faces = (b3Face*)b3Alloc(F * sizeof(b3Face));
+	b3Plane* planes = (b3Plane*)b3Alloc(F * sizeof(b3Plane));
+
+	Map vertexMap;
+	Map edgeMap;
+
+	face = hull.m_faceList.head;
+	while (face)
+	{
+		B3_ASSERT(faceCount < F);
+		u8 iface = faceCount;
+		b3Face* f = faces + faceCount;
+		b3Plane* plane = planes + faceCount;
+		++faceCount;
+
+		*plane = face->plane;
+
+		b3StackArray<u8, 32> faceEdges;
+
+		qhHalfEdge* edge = face->edge;
+		do
+		{
+			qhHalfEdge* twin = edge->twin;
+			qhVertex* v1 = edge->tail;
+			qhVertex* v2 = twin->tail;
+
+			Pair* mte = edgeMap.Find(edge);
+			Pair* mv1 = vertexMap.Find(v1);
+			Pair* mv2 = vertexMap.Find(v2);
+
+			u8 iv1;
+			if (mv1)
+			{
+				iv1 = mv1->value;
+			}
+			else
+			{
+				B3_ASSERT(vertexCount < V);
+				iv1 = vertexCount;
+				vertices[iv1] = v1->position;
+				vertexMap.Add({ v1, iv1 });
+				++vertexCount;
+			}
+
+			u8 iv2;
+			if (mv2)
+			{
+				iv2 = mv2->value;
+			}
+			else
+			{
+				B3_ASSERT(vertexCount < V);
+				iv2 = vertexCount;
+				vertices[iv2] = v2->position;
+				vertexMap.Add({ v2, iv2 });
+				++vertexCount;
+			}
+
+			if (mte)
+			{
+				u8 ie2 = mte->value;
+				b3HalfEdge* e2 = edges + ie2;
+				B3_ASSERT(e2->face == NULL_FEATURE);
+				e2->face = iface;
+				faceEdges.PushBack(ie2);
+			}
+			else
+			{
+				B3_ASSERT(edgeCount < E);
+				u8 ie1 = edgeCount;
+				b3HalfEdge* e1 = edges + edgeCount;
+				++edgeCount;
+
+				B3_ASSERT(edgeCount < E);
+				u8 ie2 = edgeCount;
+				b3HalfEdge* e2 = edges + edgeCount;
+				++edgeCount;
+
+				e1->face = iface;
+				e1->origin = iv1;
+				e1->twin = ie2;
+
+				e2->face = NULL_FEATURE;
+				e2->origin = iv2;
+				e2->twin = ie1;
+
+				faceEdges.PushBack(ie1);
+
+				edgeMap.Add({ edge, ie1 } );
+				edgeMap.Add({ twin, ie2 } );
+			}
+
+			edge = edge->next;
+		} while (edge != face->edge);
+
+		f->edge = faceEdges[0];
+		for (u32 i = 0; i < faceEdges.Count(); ++i)
+		{
+			u32 j = i < faceEdges.Count() - 1 ? i + 1 : 0;
+			edges[faceEdges[i]].next = faceEdges[j];
+		}
+
+		face = face->next;
+	}
+
+	b3Hull out;
+	out.vertexCount = vertexCount;
+	out.vertices = vertices;
+	out.edgeCount = edgeCount;
+	out.edges = edges;
+	out.faceCount = faceCount;
+	out.faces = faces;
+	out.planes = planes;
+	out.centroid.SetZero();
+
+	for (u32 i = 0; i < vertexCount; ++i)
+	{
+		out.centroid += vertices[i];
+	}
+	out.centroid /= float32(vertexCount);
+
+	out.Validate();
+	return out;
+}
+
+inline void ConstructCylinder(b3Array<b3Vec3>& points, float32 radius = 1.0f, float32 height = 1.0f)
+{
+	{
+		b3Vec3 center(0.0f, 0.0f, 0.0f);
+
+		b3Vec3 normal;
+		normal.Set(0.0f, 1.0f, 0.0f);
+
+		u32 kEdgeCount = 20;
+		float32 kAngleInc = 2.0f * B3_PI / float32(kEdgeCount);
+		float32 cosInc = cos(kAngleInc);
+		float32 sinInc = sin(kAngleInc);
+		float32 tInc = 1.0f - cosInc;
+
+		b3Vec3 n1 = b3Perp(normal);
+		b3Vec3 v1 = center + radius * n1;
+		for (u32 i = 0; i < kEdgeCount; ++i)
+		{
+			// Rodrigues' rotation formula
+			b3Vec3 n2 = cosInc * n1 + sinInc * b3Cross(normal, n1) + tInc * b3Dot(normal, n1) * normal;
+			b3Vec3 v2 = center + radius * n2;
+
+			points.PushBack(v1);
+			points.PushBack(v2);
+
+			n1 = n2;
+			v1 = v2;
+		}
+	}
+
+	{
+		b3Vec3 center(0.0f, height, 0.0f);
+
+		b3Vec3 normal;
+		normal.Set(0.0f, 1.0f, 0.0f);
+
+		u32 kEdgeCount = 20;
+		float32 kAngleInc = 2.0f * B3_PI / float32(kEdgeCount);
+		float32 cosInc = cos(kAngleInc);
+		float32 sinInc = sin(kAngleInc);
+		float32 tInc = 1.0f - cosInc;
+
+		b3Vec3 n1 = b3Perp(normal);
+		b3Vec3 v1 = center + radius * n1;
+		for (u32 i = 0; i < kEdgeCount; ++i)
+		{
+			// Rodrigues' rotation formula
+			b3Vec3 n2 = cosInc * n1 + sinInc * b3Cross(normal, n1) + tInc * b3Dot(normal, n1) * normal;
+			b3Vec3 v2 = center + radius * n2;
+
+			points.PushBack(v1);
+			points.PushBack(v2);
+
+			n1 = n2;
+			v1 = v2;
+		}
+	}
+}
+
+inline void ConstructCone(b3Array<b3Vec3>& points, float32 radius = 1.0f, float32 height = 1.0f)
+{
+	{
+		b3Vec3 center(0.0f, 0.0f, 0.0f);
+
+		b3Vec3 normal;
+		normal.Set(0.0f, 1.0f, 0.0f);
+
+		u32 kEdgeCount = 20;
+		float32 kAngleInc = 2.0f * B3_PI / float32(kEdgeCount);
+		float32 cosInc = cos(kAngleInc);
+		float32 sinInc = sin(kAngleInc);
+		float32 tInc = 1.0f - cosInc;
+
+		b3Vec3 n1 = b3Perp(normal);
+		b3Vec3 v1 = center + radius * n1;
+		for (u32 i = 0; i < kEdgeCount; ++i)
+		{
+			// Rodrigues' rotation formula
+			b3Vec3 n2 = cosInc * n1 + sinInc * b3Cross(normal, n1) + tInc * b3Dot(normal, n1) * normal;
+			b3Vec3 v2 = center + radius * n2;
+
+			points.PushBack(v1);
+			points.PushBack(v2);
+
+			n1 = n2;
+			v1 = v2;
+		}
+	}
+
+	b3Vec3 c(0.0f, height, 0.0f);
+	points.PushBack(c);
+}
+
+class QuickhullTest : public Test
+{
+public:
+	QuickhullTest()
+	{
+		g_camera.m_zoom = 15.0f;
+		g_camera.m_q = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), 0.15f * B3_PI);
+		g_camera.m_q = g_camera.m_q * b3Quat(b3Vec3(1.0f, 0.0f, 0.0f), -0.15f * B3_PI);
+		g_camera.m_center.SetZero();
+
+		b3BoxHull box;
+		box.SetIdentity();
+
+		b3StackArray<b3Vec3, 256> tetra;
+		b3Vec3 v1(-1.0f, 0.0f, 0.0f);
+		b3Vec3 v2(1.0f, 0.0f, 0.0f);
+		b3Vec3 v3(0.0f, 0.0f, -1.0f);
+		b3Vec3 v4 = 0.5f * (v1 + v2 + v3);
+		v4.y += 2.0f;
+
+		tetra.PushBack(v1);
+		tetra.PushBack(v2);
+		tetra.PushBack(v3);
+		tetra.PushBack(v4);
+
+		// Minkowski sum of box and tetrahedron
+		b3StackArray<b3Vec3, 256> points;
+		for (u32 i = 0; i < box.vertexCount; ++i)
+		{
+			for (u32 j = 0; j < tetra.Count(); ++j)
+			{
+				b3Vec3 p = box.vertices[i] - tetra[j];
+				points.PushBack(p);
+			}
+		}
+
+		u32 size = qhGetMemorySize(points.Count());
+		m_memory = b3Alloc(size);
+		m_qhull.Construct(m_memory, points);
+	}
+
+	~QuickhullTest()
+	{
+		b3Free(m_memory);
+	}
+
+	void Step()
+	{
+		m_qhull.Draw(g_debugDraw);
+	}
+
+	void KeyDown(int button)
+	{
+		if (button == GLFW_KEY_LEFT)
+		{
+			//m_index = b3Max(m_index - 1, 0);
+		}
+
+		if (button == GLFW_KEY_RIGHT)
+		{
+			//m_index = b3Min(m_index + 1, i32(horizon.Count()) - 1);
+		}
+
+		if (button == GLFW_KEY_I)
+		{
+		}
+	}
+
+	static Test* Create()
+	{
+		return new QuickhullTest();
+	}
+
+	void* m_memory;
+	qhHull m_qhull;
+};
+
+#endif
--- a/include/testbed/tests/ragdoll.h
+++ b/include/testbed/tests/ragdoll.h
@ -0,0 +1,223 @@
+/*
+* 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 RAGDOLL_H
+#define RAGDOLL_H
+
+class Ragdoll : public Test
+{
+public:
+	Ragdoll()
+	{
+		{
+			b3BodyDef bd;
+			b3Body* ground = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &hs;
+			ground->CreateShape(sd);
+		}
+		
+		b3Body* head;
+		b3Body* hip;
+		b3Body* lArm;
+		b3Body* rArm;
+		b3Body* lLeg;
+		b3Body* rLeg;
+
+		{
+			b3BodyDef bd;
+			bd.type = e_dynamicBody;
+			bd.position.Set(0.0f, 10.0f, 0.0f);
+			hip = m_world.CreateBody(bd);
+
+			hip->ApplyForceToCenter(b3Vec3(0.0f, 0.0f, -5000.0f), true);
+
+			b3CapsuleShape cs;
+			cs.m_centers[0].Set(0.0f, 0.5f, 0.0f);
+			cs.m_centers[1].Set(0.0f, -0.5f, 0.0f);
+			cs.m_radius = 1.0f;
+
+			b3ShapeDef sd;
+			sd.shape = &cs;
+			sd.density = 1.0f;
+			hip->CreateShape(sd);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = e_dynamicBody;
+			bd.position.Set(0.0f, 12.25f, 0.0f);
+			bd.angularVelocity.Set(0.0f, 0.0f, 0.005f);
+			head = m_world.CreateBody(bd);
+
+			b3CapsuleShape cs;
+			cs.m_centers[0].Set(0.0f, 0.15f, 0.0f);
+			cs.m_centers[1].Set(0.0f, -0.15f, 0.0f);
+			cs.m_radius = 0.5f;
+
+			b3ShapeDef sd;
+			sd.shape = &cs;
+			sd.density = 5.0f;
+			head->CreateShape(sd);
+		}
+
+		// Link head to chest
+		{
+			b3ConeJointDef cd;
+			cd.bodyA = hip;
+			cd.bodyB = head;
+			cd.collideLinked = false;
+			cd.enableLimit = true;
+			cd.Initialize(hip, head, b3Vec3(0.0f, 1.0f, 0.0f), b3Vec3(0.0f, 11.55f, 0.0f), 0.25f * B3_PI);
+			b3ConeJoint* cj = (b3ConeJoint*)m_world.CreateJoint(cd);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = e_dynamicBody;
+			bd.position.Set(-2.5f, 11.0f, 0.0f);
+			bd.orientation.Set(b3Vec3(0.0f, 0.0f, 1.0f), 0.5f * B3_PI);
+			lArm = m_world.CreateBody(bd);
+
+			b3CapsuleShape cs;
+			cs.m_centers[0].Set(0.0f, 1.0f, 0.0f);
+			cs.m_centers[1].Set(0.0f, -1.0f, 0.0f);
+			cs.m_radius = 0.5f;
+
+			b3ShapeDef sd;
+			sd.shape = &cs;
+			sd.density = 0.25f;
+			
+			lArm->CreateShape(sd);
+		}
+		
+		// Link left arm to chest
+		{
+			b3ConeJointDef cd;
+			cd.bodyA = hip;
+			cd.bodyB = lArm;
+			cd.collideLinked = false;
+			cd.enableLimit = true;
+			cd.Initialize(hip, lArm, b3Vec3(-1.0f, 0.0f, 0.0f), b3Vec3(-1.0f, 11.0f, 0.0f), B3_PI);
+			b3ConeJoint* cj = (b3ConeJoint*)m_world.CreateJoint(cd);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = e_dynamicBody;
+			bd.position.Set(2.5f, 11.0f, 0.0f);
+			bd.orientation.Set(b3Vec3(0.0f, 0.0f, 1.0f), 0.5f * B3_PI);
+			rArm = m_world.CreateBody(bd);
+
+			b3CapsuleShape cs;
+			cs.m_centers[0].Set(0.0f, 1.0f, 0.0f);
+			cs.m_centers[1].Set(0.0f, -1.0f, 0.0f);
+			cs.m_radius = 0.5f;
+
+			b3ShapeDef sd;
+			sd.shape = &cs;
+			sd.density = 0.25f;
+
+			rArm->CreateShape(sd);
+		}
+		
+		// Link right arm to chest
+		{
+			b3ConeJointDef cd;
+			cd.bodyA = hip;
+			cd.bodyB = rArm;
+			cd.collideLinked = false;
+			cd.enableLimit = true;
+			cd.Initialize(hip, rArm, b3Vec3(1.0f, 0.0f, 0.0f), b3Vec3(1.0f, 11.0f, 0.0f), B3_PI);
+			b3ConeJoint* cj = (b3ConeJoint*)m_world.CreateJoint(cd);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = e_dynamicBody;
+			bd.position.Set(-0.5f, 6.0f, 0.0f);
+			lLeg = m_world.CreateBody(bd);
+
+			b3CapsuleShape cs;
+			cs.m_centers[0].Set(0.0f, 2.0f, 0.0f);
+			cs.m_centers[1].Set(0.0f, -2.0f, 0.0f);
+			cs.m_radius = 0.45f;
+
+			b3ShapeDef sd;
+			sd.shape = &cs;
+			sd.density = 0.25f;
+
+			lLeg->CreateShape(sd);
+		}
+
+		// Link left leg to chest
+		{
+			b3ConeJointDef cd;
+			cd.bodyA = hip;
+			cd.bodyB = lLeg;
+			cd.collideLinked = false;
+			cd.enableLimit = true;
+			cd.Initialize(hip, lLeg, b3Vec3(0.0f, -1.0f, 0.0f), b3Vec3(-0.5f, 8.5f, 0.0f), 0.25f * B3_PI);
+			b3ConeJoint* cj = (b3ConeJoint*)m_world.CreateJoint(cd);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = e_dynamicBody;
+			bd.position.Set(0.5f, 6.0f, 0.0f);
+			rLeg = m_world.CreateBody(bd);
+
+			b3CapsuleShape cs;
+			cs.m_centers[0].Set(0.0f, 2.0f, 0.0f);
+			cs.m_centers[1].Set(0.0f, -2.0f, 0.0f);
+			cs.m_radius = 0.45f;
+
+			b3ShapeDef sd;
+			sd.shape = &cs;
+			sd.density = 0.25f;
+
+			rLeg->CreateShape(sd);
+		}
+
+		// Link right leg to chest
+		{
+			b3ConeJointDef cd;
+			cd.bodyA = hip;
+			cd.bodyB = rLeg;
+			cd.collideLinked = false;
+			cd.enableLimit = true;
+			cd.Initialize(hip, rLeg, b3Vec3(0.0f, -1.0f, 0.0f), b3Vec3(0.5f, 8.5f, 0.0f), 0.25f * B3_PI);
+			b3ConeJoint* cj = (b3ConeJoint*)m_world.CreateJoint(cd);
+		}
+	}
+	
+	void KeyDown(int button)
+	{
+	}
+
+	static Test* Create()
+	{
+		return new Ragdoll();
+	}
+};
+
+#endif
--- a/include/testbed/tests/ray_cast.h
+++ b/include/testbed/tests/ray_cast.h
@ -0,0 +1,271 @@
+/*
+* 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 RAY_CAST_H
+#define RAY_CAST_H
+
+extern Settings g_settings;
+
+class RayCast : public Test
+{
+public:
+	RayCast()
+	{
+		{
+			b3BodyDef bdef;
+			bdef.type = b3BodyType::e_staticBody;
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.type = b3BodyType::e_staticBody;
+			bdef.position.Set(0.0f, 2.0f, 10.0f);
+			bdef.orientation = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), 0.25f * B3_PI);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &m_boxHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.type = b3BodyType::e_staticBody;
+			bdef.position.Set(-10.0f, 6.0f, -10.0f);
+			bdef.orientation = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), 0.25f * B3_PI);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &m_tallHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.type = b3BodyType::e_staticBody;
+			bdef.position.Set(10.0f, 2.0f, 0.0f);
+			bdef.orientation = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), 0.20f * B3_PI);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &m_boxHull;
+
+			b3ShapeDef sdef;
+			sdef.density = 0.0f;
+			sdef.friction = 0.0f;
+			sdef.shape = &hs;
+			sdef.userData = nullptr;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.type = b3BodyType::e_staticBody;
+			bdef.position.Set(-10.0f, 2.0f, 14.0f);
+			bdef.orientation = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), 0.05f * B3_PI);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &m_boxHull;
+
+			b3ShapeDef sdef;
+			sdef.density = 0.0f;
+			sdef.friction = 0.0f;
+			sdef.shape = &hs;
+			sdef.userData = nullptr;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.type = b3BodyType::e_staticBody;
+			bdef.position.Set(-14.0f, 2.0f, 5.0f);
+			bdef.orientation = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), -0.05f * B3_PI);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &m_boxHull;
+
+			b3ShapeDef sdef;
+			sdef.density = 0.0f;
+			sdef.friction = 0.0f;
+			sdef.shape = &hs;
+			sdef.userData = nullptr;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.type = b3BodyType::e_staticBody;
+			bdef.position.Set(20.0f, 2.0f, 5.0f);
+			bdef.orientation = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), -0.05f * B3_PI);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &m_boxHull;
+
+			b3ShapeDef sdef;
+			sdef.density = 0.0f;
+			sdef.friction = 0.0f;
+			sdef.shape = &hs;
+			sdef.userData = nullptr;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+		
+		{
+			b3BodyDef bdef;
+			bdef.type = b3BodyType::e_staticBody;
+			bdef.position.Set(12.0f, 2.0f, 5.0f);
+			bdef.orientation = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), -0.35f * B3_PI);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3SphereShape hs;
+			hs.m_radius = 2.5f;
+
+			b3ShapeDef sdef;
+			sdef.density = 0.0f;
+			sdef.friction = 0.0f;
+			sdef.shape = &hs;
+			sdef.userData = nullptr;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.type = b3BodyType::e_staticBody;
+			bdef.position.Set(0.0f, 1.0f, -12.0f);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3CapsuleShape hs;
+			hs.m_centers[0].Set(0.0f, 1.0f, 0.0f);
+			hs.m_centers[1].Set(0.0f, -1.0f, 0.0f);
+			hs.m_radius = 3.0f;
+
+			b3ShapeDef sdef;
+			sdef.density = 0.0f;
+			sdef.friction = 0.0f;
+			sdef.shape = &hs;
+			sdef.userData = nullptr;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		m_p1.Set(0.0f, 2.0f, 0.0f);
+		m_p2.Set(50.0f, 2.0f, 0.0f);
+
+		m_p12.Set(0.0f, 2.0f, 0.0f);
+		m_p22.Set(-50.0f, 2.0f, 0.0f);
+	}
+
+	void CastRay(const b3Vec3 p1, const b3Vec3 p2) const
+	{
+		// Perform the ray cast
+		RayCastListener listener;
+		m_world.CastRay(&listener, p1, p2);
+
+		int hitId = listener.FindClosestHit();
+
+		if (hitId >= 0)
+		{
+			// Hit
+			// Replace current hit
+			RayCastHit rayHit = listener.m_hits[hitId];
+
+			b3Shape* shape = rayHit.m_shape;
+
+			b3Body* bodyA = m_groundBody;
+			b3Body* bodyB = shape->GetBody();
+
+			// Ray hit point in world space
+			b3Vec3 worldPointA = rayHit.m_point;
+
+			// xf from world space to the local space of the shape
+			b3Transform xf = shape->GetTransform();
+
+			// lp = xf^-1 * wp
+			b3Vec3 localPointA = b3MulT(xf, worldPointA);
+
+			extern DebugDraw* g_debugDraw;
+
+			g_debugDraw->DrawSegment(p1, worldPointA, b3Color(0.0f, 1.0f, 0.0f));
+			g_debugDraw->DrawPoint(worldPointA, b3Color(1.0f, 0.0f, 0.0f));
+			g_debugDraw->DrawSegment(worldPointA, worldPointA + rayHit.m_normal, b3Color(1.0f, 1.0f, 1.0f));
+		}
+		else
+		{
+			g_debugDraw->DrawSegment(p1, p2, b3Color(0.0f, 1.0f, 0.0f));
+		}
+	}
+
+	void Step()
+	{
+		float32 dt = g_settings.hertz > 0.0f ? 1.0f / g_settings.hertz : 0.0f;
+		b3Quat q(b3Vec3(0.0f, 1.0f, 0.0f), dt * 0.05f * B3_PI);
+		
+		m_p1 = b3Mul(q, m_p1);
+		m_p2 = b3Mul(q, m_p2);
+
+		m_p12 = b3Mul(q, m_p12);
+		m_p22 = b3Mul(q, m_p22);
+
+		CastRay(m_p1, m_p2);
+		CastRay(m_p12, m_p22);
+
+		Test::Step();
+	}
+
+	static Test* Create()
+	{
+		return new RayCast();
+	}
+
+	b3Vec3 m_p1, m_p2;
+	b3Vec3 m_p12, m_p22;
+};
+
+#endif
--- a/include/testbed/tests/sensor_test.h
+++ b/include/testbed/tests/sensor_test.h
@ -0,0 +1,164 @@
+/*
+* 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 SENSOR_TEST_H
+#define SENSOR_TEST_H
+
+class SensorTest : public Test
+{
+public:
+	SensorTest()
+	{
+		{
+			b3BodyDef bd;
+			b3Body* ground = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &hs;
+
+			ground->CreateShape(sd);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.position.Set(0.0f, 6.0f, 0.0f);
+			
+			b3Body* body = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &m_tallHull;
+
+			b3ShapeDef sd;
+			sd.shape = &hs;
+			sd.isSensor = true;
+			m_sensor = body->CreateShape(sd);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = b3BodyType::e_dynamicBody;
+			bd.position.Set(0.0f, 4.0f, 10.0f);
+			bd.linearVelocity.Set(0.0f, 0.0f, -5.0f);
+
+			m_character = m_world.CreateBody(bd);
+
+			b3CapsuleShape cap;
+			cap.m_centers[0].Set(0.0f, 2.0f, 0.0f);
+			cap.m_centers[1].Set(0.0f, -2.0f, 0.0f);
+			cap.m_radius = 0.5f;
+
+			b3ShapeDef sd;
+			sd.shape = &cap;
+			sd.density = 1.5f;
+			sd.friction = 0.7f;
+
+			m_character->CreateShape(sd);
+		}
+
+		m_attack = false;
+	}
+
+	void BeginContact(b3Contact* c)
+	{
+		b3Shape* sA = c->GetShapeA();
+		b3Body* bA = sA->GetBody();
+		b3Shape* sB = c->GetShapeB();
+		b3Body* bB = sB->GetBody();
+
+		if (sA == m_sensor)
+		{
+			if (bB == m_character)
+			{
+				m_attack = true;
+			}
+		}
+
+		if (sB == m_sensor)
+		{
+			if (bA == m_character)
+			{
+				m_attack = true;
+			}
+		}
+
+	}
+
+	void EndContact(b3Contact* c)
+	{
+		b3Shape* sA = c->GetShapeA();
+		b3Body* bA = sA->GetBody();
+		b3Shape* sB = c->GetShapeB();
+		b3Body* bB = sB->GetBody();
+
+		if (sA == m_sensor)
+		{
+		}
+
+		if (sB == m_sensor)
+		{
+		}
+	}
+
+	void Step()
+	{
+		if (m_attack)
+		{
+			b3Body* sensorBody = m_sensor->GetBody();
+
+			b3BodyDef bd;
+			bd.type = b3BodyType::e_dynamicBody;
+			bd.position.Set(RandomFloat(-20.0f, 20.0f), RandomFloat(10.0f, 20.0f), RandomFloat(-20.0f, 20.0f));
+
+			b3Vec3 n = m_character->GetTransform().position - bd.position;
+			n.Normalize();
+
+			bd.linearVelocity = 60.0f * n;
+
+			b3Body* enemy = m_world.CreateBody(bd);
+
+			b3SphereShape shape;
+			shape.m_center.Set(0.0f, 0.0f, 0.0f);
+			shape.m_radius = 0.5f;
+
+			b3ShapeDef sd;
+			sd.shape = &shape;
+			sd.density = 1.0f;
+			sd.friction = 1.0f;
+
+			enemy->CreateShape(sd);
+			
+			m_attack = false;
+		}
+
+		Test::Step();
+	}
+
+	static Test* Create()
+	{
+		return new SensorTest();
+	}
+	
+	b3Body* m_character;
+	b3Shape* m_sensor;
+	bool m_attack;
+};
+
+#endif
--- a/include/testbed/tests/shape_stack.h
+++ b/include/testbed/tests/shape_stack.h
@ -0,0 +1,108 @@
+/*
+* 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 SHAPE_STACK_H
+#define SHAPE_STACK_H
+
+class ShapeStack : public Test
+{
+public:
+	ShapeStack()
+	{
+		{
+			b3BodyDef bd;
+			b3Body* ground = m_world.CreateBody(bd);
+
+			b3MeshShape ms;
+			ms.m_mesh = m_meshes + e_gridMesh;
+			
+			b3ShapeDef sd;
+			sd.shape = &ms;
+			
+			ground->CreateShape(sd);
+		}
+
+
+		for (float32 y = 2.5f; y < 20.0f; y += 2.5f)
+		{
+			b3BodyDef bd;
+			bd.type = b3BodyType::e_dynamicBody;
+			bd.position.Set(-10.0f, y, 0.0f);
+
+			b3Body* body = m_world.CreateBody(bd);
+
+			b3SphereShape sphere;
+			sphere.m_center.SetZero();
+			sphere.m_radius = 1.0f;
+
+			b3ShapeDef sdef;
+			sdef.shape = &sphere;
+			sdef.density = 1.0f;
+			sdef.friction = 0.3f;
+			
+			body->CreateShape(sdef);
+		}
+
+		for (float32 y = 2.5f; y < 20.0f; y += 2.5f)
+		{
+			b3BodyDef bd;
+			bd.type = b3BodyType::e_dynamicBody;
+			bd.position.Set(0.0f, y, 0.0f);
+			bd.orientation = b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), 0.5f * B3_PI);
+
+			b3Body* body = m_world.CreateBody(bd);
+
+			b3CapsuleShape capsule;
+			capsule.m_centers[0].Set(0.0f, -1.0f, 0.0f);
+			capsule.m_centers[1].Set(0.0f, 1.0f, 0.0f);
+			capsule.m_radius = 1.0f;
+
+			b3ShapeDef sd;
+			sd.shape = &capsule;
+			sd.density = 1.0f;
+			sd.friction = 0.3f;
+			
+			body->CreateShape(sd);
+		}
+		
+		for (float32 y = 2.5f; y < 20.0f; y += 2.5f)
+		{
+			b3BodyDef bd;
+			bd.type = b3BodyType::e_dynamicBody;
+			bd.position.Set(10.0f, y, 0.0f);
+			b3Body* body = m_world.CreateBody(bd);
+
+			b3HullShape hull;
+			hull.m_hull = &m_boxHull;
+			
+			b3ShapeDef sd;
+			sd.shape = &hull;
+			sd.density = 1.0f;
+			sd.friction = 0.3f;
+			
+			body->CreateShape(sd);
+		}
+	}
+
+	static Test* Create()
+	{
+		return new ShapeStack();
+	}
+};
+
+#endif
--- a/include/testbed/tests/sphere_stack.h
+++ b/include/testbed/tests/sphere_stack.h
@ -0,0 +1,93 @@
+/*
+* 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 SPHERE_STACK_H
+#define SPHERE_STACK_H
+
+class SphereStack : public Test
+{
+public:
+	enum
+	{
+		e_rowCount = 1,
+		e_columnCount = 5,
+		e_depthCount = 1
+	};
+
+	SphereStack()
+	{
+		{
+			b3BodyDef bd;
+			bd.type = b3BodyType::e_staticBody;
+			b3Body* ground = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+			
+			b3ShapeDef sd;
+			sd.shape = &hs;
+			sd.density = 0.0f;
+			sd.friction = 1.0f;
+			sd.restitution = 0.0f;
+			
+			b3Shape* groundShape = ground->CreateShape(sd);
+		}
+
+		b3Vec3 stackOrigin;
+		stackOrigin.Set(0.0f, 5.0f, 0.0f);
+		float32 radius = 1.0f;
+		float32 diameter = 2.0f * radius;
+
+		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 = float32(i) * diameter;
+					bdef.position.y = float32(j) * diameter;
+					bdef.position.z = float32(k) * diameter;
+					bdef.position += stackOrigin;
+					bdef.linearVelocity.Set(0.0f, -50.0f, 0.0f);
+
+					b3Body* body = m_world.CreateBody(bdef);
+
+					b3SphereShape sphere;
+					sphere.m_center.SetZero();
+					sphere.m_radius = radius;
+
+					b3ShapeDef sdef;
+					sdef.shape = &sphere;
+					sdef.density = 1.0f;
+					sdef.friction = 0.3f;
+
+					b3Shape* shape = body->CreateShape(sdef);
+				}
+			}
+		}
+	}
+
+	static Test* Create()
+	{
+		return new SphereStack();
+	}
+};
+
+#endif
--- a/include/testbed/tests/spring.h
+++ b/include/testbed/tests/spring.h
@ -0,0 +1,191 @@
+/*
+* 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
--- a/include/testbed/tests/test.h
+++ b/include/testbed/tests/test.h
@ -0,0 +1,218 @@
+/*
+* 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 TEST_H
+#define TEST_H
+
+#include <glfw\glfw3.h>
+#include <imgui\imgui.h>
+#include "..\framework\debug_draw.h"
+#include <bounce\bounce.h>
+
+struct Settings
+{
+	Settings()
+	{
+		hertz = 60.0f;
+		velocityIterations = 8;
+		positionIterations = 2;
+		sleep = false;
+		warmStart = true;
+		convexCache = true;
+		drawCenterOfMasses = false;
+		drawShapes = true;
+		drawBounds = false;
+		drawJoints = true;
+		drawContactPoints = true;
+		drawContactNormals = false;
+		drawContactTangents = false;
+		drawStats = true;
+		drawProfile = true;
+		drawGrid = false;;
+		pause = false;
+		singleStep = false;
+		lastTestID = -1;
+		testID = 0;
+	}
+
+	int lastTestID;
+	int testID;
+
+	float32 hertz;
+	int velocityIterations;
+	int positionIterations;
+	bool sleep;
+	bool warmStart;
+	bool convexCache;
+	bool drawCenterOfMasses;
+	bool drawBounds;
+	bool drawShapes;
+	bool drawSolidShapes;
+	bool drawJoints;
+	bool drawContactPoints;
+	bool drawContactNormals;
+	bool drawContactTangents;
+	bool drawStats;
+	bool drawProfile;
+	bool drawGrid;
+	bool pause;
+	bool singleStep;
+};
+
+class Test;
+
+struct TestEntry
+{
+	typedef Test* (*TestCreate)();
+	const char* name;
+	TestCreate create;
+};
+
+enum TestType
+{
+	// Collision
+	e_QHull,
+	e_Cluster,
+	e_Distance,
+	e_CapsuleDistance,
+	e_CapsuleAndCapsule,
+	e_CapsuleAndHull,
+	e_HullAndHull,
+	// Dynamics
+	// Joints
+	e_NewtonCradle,
+	e_Vehicle,
+	e_Door,
+	e_HingeChain,
+	e_Ragdoll,
+	// Contacts
+	e_Quadric,
+	e_MeshContact,
+	// World
+	e_SphereStack,
+	e_CapsuleStack,
+	e_BoxStack,
+	e_ShapeStack,
+	e_Jenga,
+	e_Thin,
+	e_Pyramid,
+	e_Pyramids,
+	// World Queries
+	e_RayCast,
+	e_SensorTest,
+	e_Character,
+	e_BodyTypes,
+	e_VaryingFriction,
+	e_VaryingRestitution,
+	e_testCount
+};
+
+extern TestEntry g_tests[e_testCount];
+
+struct RayCastHit
+{
+	b3Shape* m_shape;
+	b3Vec3 m_point;
+	b3Vec3 m_normal;
+	float32 m_fraction;
+};
+
+class RayCastListener : public b3RayCastListener
+{
+public:
+	float32 ReportShape(b3Shape* shape, const b3Vec3& point, const b3Vec3& normal, float32 fraction)
+	{
+		RayCastHit hit;
+		hit.m_shape = shape;
+		hit.m_point = point;
+		hit.m_normal = normal;
+		hit.m_fraction = fraction;
+
+		m_hits.PushBack(hit);
+
+		// Continue.
+		return 1.0f;
+	}
+
+	int FindClosestHit() const
+	{
+		float32 minFraction = FLT_MAX;
+		int minIndex = -1;
+		for (u32 i = 0; i < m_hits.Count(); ++i)
+		{
+			const RayCastHit* hit = m_hits.Get(i);
+			if (hit->m_fraction < minFraction)
+			{
+				minFraction = hit->m_fraction;
+				minIndex = i;
+			}
+		}
+		return minIndex;
+	}
+
+	b3StackArray<RayCastHit, 256> m_hits;
+};
+
+class Test : public b3ContactListener
+{
+public:
+	enum Meshes
+	{
+		e_gridMesh,
+		e_terrainMesh,
+		e_maxMeshes,
+	};
+
+	Test();
+	virtual ~Test();
+
+	virtual void BeginContact(b3Contact* contact);
+	virtual void EndContact(b3Contact* contact);
+	virtual void PreSolve(b3Contact* contact);
+
+	virtual void Step();
+	virtual void RayHit();
+
+	virtual void MouseMove(const Ray3& pw);
+	virtual void MouseLeftDown(const Ray3& pw);
+	virtual void MouseLeftUp(const Ray3& pw);
+	virtual void KeyDown(int button) { }
+	virtual void KeyUp(int button) { }
+
+	b3World m_world;
+	b3Profile m_profile;
+	b3Profile m_maxProfile;
+
+	RayCastHit m_rayHit;
+	b3Body* m_groundBody;
+	b3BoxHull m_groundHull;
+	b3BoxHull m_boxHull;
+	b3BoxHull m_tallHull;
+	b3BoxHull m_doorHull;
+	b3BoxHull m_rampHull;
+	b3BoxHull m_plankHull;
+	b3BoxHull m_thinHull;
+
+	b3Hull* m_qhull;
+
+	b3Mesh m_meshes[e_maxMeshes];
+
+	b3MouseJoint* m_mouseJoint;
+};
+
+#endif
--- a/include/testbed/tests/thin.h
+++ b/include/testbed/tests/thin.h
@ -0,0 +1,95 @@
+/*
+* 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 THIN_H
+#define THIN_H
+
+class Thin : public Test
+{
+public:
+	enum
+	{
+		e_rowCount = 1,
+		e_columnCount = 10,
+		e_depthCount = 1
+	};
+
+	Thin()
+	{
+		g_camera.m_center.Set(2.5f, -2.0f, 5.5f);
+		g_camera.m_zoom = 40.0f;
+
+		{
+			b3BodyDef bdef;
+			bdef.type = b3BodyType::e_staticBody;
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+			sdef.friction = 1.0f;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		b3Vec3 stackOrigin;
+		stackOrigin.Set(0.0f, 4.05f, 0.0f);
+
+		b3Vec3 boxScale;
+		boxScale.Set(4.05f, 2.05f, 4.05f);
+
+		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 = float32(i) * boxScale.x;
+					bdef.position.y = 1.5f * float32(j) * boxScale.y;
+					bdef.position.z = float32(k) * boxScale.z;
+					bdef.position += stackOrigin;
+
+					b3Body* body = m_world.CreateBody(bdef);
+
+					b3HullShape hs;
+					hs.m_hull = &m_thinHull;
+
+					b3ShapeDef sdef;
+					sdef.shape = &hs;
+					sdef.density = 0.5f;
+					sdef.friction = 0.2f;
+					
+					body->CreateShape(sdef);
+				}
+			}
+		}
+	}
+
+	static Test* Create()
+	{
+		return new Thin();
+	}
+};
+
+#endif
--- a/include/testbed/tests/varying_friction.h
+++ b/include/testbed/tests/varying_friction.h
@ -0,0 +1,165 @@
+/*
+* 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 VARYING_FRICTION_H
+#define VARYING_FRICTION_H
+
+class VaryingFriction : public Test
+{
+public:
+	VaryingFriction()
+	{
+		g_camera.m_zoom = 200.0f;
+		g_camera.m_q = b3Quat(b3Vec3(1.0f, 0.0f, 0.0f), -0.1f * B3_PI);
+		g_camera.m_q = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), -0.1f * B3_PI) * g_camera.m_q;
+
+		{
+			b3BodyDef bdef;	
+			b3Body* ground = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+			ground->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.position.Set(-20.0f, 20.0f, 0.0f);
+			bdef.orientation = b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), -0.1f * B3_PI);
+
+			b3Body* ramp = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &m_rampHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+			sdef.friction = 0.4f;
+			ramp->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.position.Set(20.0f, 30.0f, 0.0f);
+			bdef.orientation = b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), 0.1f * B3_PI);
+
+			b3Body* ramp = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &m_rampHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+			sdef.friction = 0.3f;
+			ramp->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.position.Set(-20.0f, 40.0f, 0.0f);
+			bdef.orientation = b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), -0.1f * B3_PI);
+
+			b3Body* ramp = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &m_rampHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+			sdef.friction = 0.2f;
+			ramp->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.position.Set(20.0f, 50.0f, 0.0f);
+			bdef.orientation = b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), 0.1f * B3_PI);
+
+			b3Body* ramp = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &m_rampHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+			sdef.friction = 0.1f;
+			ramp->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = b3BodyType::e_dynamicBody;
+			bd.position.Set(40.0f, 70.0f, -10.0f);
+			b3Body* body = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &m_boxHull;
+
+			b3ShapeDef sdef;
+			sdef.density = 1.0f;
+			sdef.friction = 0.2f;
+			sdef.shape = &hs;
+
+			body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = b3BodyType::e_dynamicBody;
+			bd.position.Set(40.0f, 70.0f, 0.0f);
+			b3Body* body = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &m_boxHull;
+
+			b3ShapeDef sdef;
+			sdef.density = 1.0f;
+			sdef.friction = 0.5f;
+			sdef.shape = &hs;
+
+			body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = b3BodyType::e_dynamicBody;
+			bd.position.Set(40.0f, 70.0f, 10.0f);
+			b3Body* body = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &m_boxHull;
+
+			b3ShapeDef sdef;
+			sdef.density = 1.0f;
+			sdef.friction = 0.8f;
+			sdef.shape = &hs;
+
+			body->CreateShape(sdef);
+		}
+	}
+
+	static Test* Create()
+	{
+		return new VaryingFriction();
+	}
+};
+
+#endif
--- a/include/testbed/tests/varying_restitution.h
+++ b/include/testbed/tests/varying_restitution.h
@ -0,0 +1,137 @@
+/*
+* 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 VARYING_RESTITUTION_H
+#define VARYING_RESTITUTION_H
+
+class VaryingRestitution : public Test
+{
+public:
+	VaryingRestitution()
+	{
+		{
+			b3BodyDef bd;
+			b3Body* ground = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &hs;
+			
+			ground->CreateShape(sd);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = b3BodyType::e_dynamicBody;
+			bd.position.Set(-10.0f, 10.0f, 0.0f);
+			b3Body* body = m_world.CreateBody(bd);
+
+			b3SphereShape ball;
+			ball.m_center.SetZero();
+			ball.m_radius = 1.0f;
+
+			b3ShapeDef sd;
+			sd.shape = &ball;
+			sd.density = 1.0f;
+			sd.restitution = 0.2f;
+			
+			body->CreateShape(sd);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = b3BodyType::e_dynamicBody;
+			bd.position.Set(-5.0f, 10.0f, 0.0f);
+			b3Body* body = m_world.CreateBody(bd);
+
+			b3SphereShape ball;
+			ball.m_center.SetZero();
+			ball.m_radius = 1.0f;
+
+			b3ShapeDef sd;
+			sd.shape = &ball;
+			sd.density = 1.0f;
+			sd.restitution = 0.4f;
+
+			body->CreateShape(sd);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = b3BodyType::e_dynamicBody;
+			bd.position.Set(0.0f, 10.0f, 0.0f);
+			b3Body* body = m_world.CreateBody(bd);
+
+			b3SphereShape ball;
+			ball.m_center.SetZero();
+			ball.m_radius = 1.0f;
+
+			b3ShapeDef sd;
+			sd.shape = &ball;
+			sd.density = 1.0f;
+			sd.restitution = 0.6f;
+
+			body->CreateShape(sd);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = b3BodyType::e_dynamicBody;
+			bd.position.Set(5.0f, 10.0f, 0.0f);
+			b3Body* body = m_world.CreateBody(bd);
+
+			b3SphereShape ball;
+			ball.m_center.SetZero();
+			ball.m_radius = 1.0f;
+
+			b3ShapeDef sd;
+			sd.shape = &ball;
+			sd.density = 1.0f;
+			sd.restitution = 0.8f;
+
+			body->CreateShape(sd);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = b3BodyType::e_dynamicBody;
+			bd.position.Set(10.0f, 10.0f, 0.0f);
+			b3Body* body = m_world.CreateBody(bd);
+
+			b3SphereShape ball;
+			ball.m_center.SetZero();
+			ball.m_radius = 1.0f;
+
+			b3ShapeDef sd;
+			sd.shape = &ball;
+			sd.density = 1.0f;
+			sd.restitution = 1.0f;
+
+			body->CreateShape(sd);
+		}
+	}
+
+	static Test* Create()
+	{
+		return new VaryingRestitution();
+	}
+};
+
+#endif