diff --git a/building.txt b/building.txt
index 29e6db5..ac668be 100644
--- a/building.txt
+++ b/building.txt
@@ -5,8 +5,8 @@ Put premake into bounce/.
 
 Visual Studio 2017
 
-Ensure you have installed the Visual Studio 2015 libraries
-Say { premake5 vs2017 } on a command line.
+Ensure you have installed the Visual Studio 2015 libraries.
+Say { premake5 vs2017 } on a command line. 
 Open build/vs2017/bounce.sln.
 Set testbed as the startup project.
 In the testbed debugging properties, set the Working Directory to ..\..\examples\testbed.
diff --git a/examples/testbed/framework/controller.cpp b/examples/testbed/framework/controller.cpp
new file mode 100644
index 0000000..9fee1c2
--- /dev/null
+++ b/examples/testbed/framework/controller.cpp
@@ -0,0 +1,162 @@
+#include <testbed/framework/controller.h>
+#include <testbed/framework/model.h>
+#include <testbed/framework/view.h>
+
+// !
+#include <glfw/glfw3.h>
+
+// !
+static inline b3Vec2 GetCursorPosition()
+{
+	extern GLFWwindow* g_window;
+
+	double x, y;
+	glfwGetCursorPos(g_window, &x, &y);
+
+	return b3Vec2(float32(x), float32(y));
+}
+
+Controller::Controller(Model* model, View* view)
+{
+	m_model = model;
+	m_view = view;
+	
+	m_leftDown = false;
+	m_rightDown = false;
+	m_shiftDown = false;
+	m_ps0.SetZero();
+}
+
+Controller::~Controller()
+{
+
+}
+
+void Controller::Event_SetWindowSize(u32 w, u32 h)
+{
+	m_model->Command_ResizeCamera(float32(w), float32(h));
+}
+
+void Controller::Event_Press_Key(int button)
+{
+	if (button == GLFW_KEY_LEFT_SHIFT)
+	{
+		m_shiftDown = true;
+	}
+
+	if (m_shiftDown)
+	{
+		if (button == GLFW_KEY_DOWN)
+		{
+			m_model->Command_ZoomCamera(1.0f);
+		}
+
+		if (button == GLFW_KEY_UP)
+		{
+			m_model->Command_ZoomCamera(-1.0f);
+		}
+	}
+	else
+	{
+		m_model->Command_Press_Key(button);
+	}
+}
+
+void Controller::Event_Release_Key(int button)
+{
+	if (button == GLFW_KEY_LEFT_SHIFT)
+	{
+		m_shiftDown = false;
+	}
+
+	if (m_shiftDown)
+	{
+
+	}
+	else
+	{
+		m_model->Command_Release_Key(button);
+	}
+}
+
+void Controller::Event_Press_Mouse(int button)
+{
+	if (button == GLFW_MOUSE_BUTTON_LEFT)
+	{
+		m_leftDown = true;
+
+		if (!m_shiftDown)
+		{
+			m_model->Command_Press_Mouse_Left(GetCursorPosition());
+		}
+	}
+
+	if (button == GLFW_MOUSE_BUTTON_RIGHT)
+	{
+		m_rightDown = true;
+	}
+}
+
+void Controller::Event_Release_Mouse(int button)
+{
+	if (button == GLFW_MOUSE_BUTTON_LEFT)
+	{
+		m_leftDown = false;
+
+		if (!m_shiftDown)
+		{
+			m_model->Command_Release_Mouse_Left(GetCursorPosition());
+		}
+	}
+
+	if (button == GLFW_MOUSE_BUTTON_RIGHT)
+	{
+		m_rightDown = false;
+	}
+}
+
+void Controller::Event_Move_Cursor(float32 x, float32 y)
+{
+	b3Vec2 ps;
+	ps.Set(float32(x), float32(y));
+
+	b3Vec2 dp = ps - m_ps0;
+	m_ps0 = ps;
+
+	float32 ndx = b3Clamp(dp.x, -1.0f, 1.0f);
+	float32 ndy = b3Clamp(dp.y, -1.0f, 1.0f);
+
+	if (m_shiftDown)
+	{
+		if (m_leftDown)
+		{
+			float32 ax = -0.005f * B3_PI * ndx;
+			float32 ay = -0.005f * B3_PI * ndy;
+			
+			m_model->Command_RotateCameraY(ax);
+			m_model->Command_RotateCameraX(ay);
+		}
+
+		if (m_rightDown)
+		{
+			float32 tx = 0.2f * ndx;
+			float32 ty = -0.2f * ndy;
+
+			m_model->Command_TranslateCameraX(tx);
+			m_model->Command_TranslateCameraY(ty);
+		}
+	}
+	else
+	{
+		m_model->Command_Move_Cursor(GetCursorPosition());
+	}
+}
+
+void Controller::Event_Scroll(float32 dx, float32 dy)
+{
+	if (m_shiftDown)
+	{
+		float32 ny = b3Clamp(dy, -1.0f, 1.0f);
+		m_model->Command_ZoomCamera(1.0f * ny);
+	}
+}
\ No newline at end of file
diff --git a/examples/testbed/framework/controller.h b/examples/testbed/framework/controller.h
new file mode 100644
index 0000000..1f53e4e
--- /dev/null
+++ b/examples/testbed/framework/controller.h
@@ -0,0 +1,59 @@
+/*
+* 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 CONTROLLER_H
+#define CONTROLLER_H
+
+#include <bounce/common/math/vec2.h>
+
+class Model;
+class View;
+
+class Controller
+{
+public:
+	Controller(Model* model, View* view);
+
+	~Controller();
+
+	void Event_SetWindowSize(u32 w, u32 h);
+	
+	void Event_Press_Key(int button);
+	void Event_Release_Key(int button);
+
+	void Event_Press_Mouse(int button);
+	void Event_Release_Mouse(int button);
+
+	void Event_Move_Cursor(float32 x, float32 y);
+	void Event_Scroll(float32 dx, float32 dy);
+private:
+	friend class Model;
+	friend class View;
+
+	Model* m_model;
+	View* m_view;
+
+	bool m_leftDown;
+	bool m_rightDown;
+	bool m_shiftDown;
+	b3Vec2 m_ps0;
+
+	// Ray3 m_ray0;
+};
+
+#endif
\ No newline at end of file
diff --git a/examples/testbed/framework/debug_draw.h b/examples/testbed/framework/debug_draw.h
index ee560f2..9730b73 100644
--- a/examples/testbed/framework/debug_draw.h
+++ b/examples/testbed/framework/debug_draw.h
@@ -27,29 +27,34 @@ struct DrawTriangles;
 struct DrawWire;
 struct DrawSolid;
 
+//
 struct Ray3
 {
-	b3Vec3 A() const
-	{
-		return origin;
-	}
-
-	b3Vec3 B() const
-	{
-		return origin + fraction * direction;
-	}
+	b3Vec3 A() const;
+	b3Vec3 B() const;
 
 	b3Vec3 direction;
 	b3Vec3 origin;
 	float32 fraction;
 };
 
+inline b3Vec3 Ray3::A() const
+{
+	return origin;
+}
+
+inline b3Vec3 Ray3::B() const
+{
+	return origin + fraction * direction;
+}
+
+//
 class Camera
 {
 public:
 	Camera()
 	{
-		m_center.Set(0.0f, 5.0f, 0.0f);
+		m_center.SetZero();
 		m_q.SetIdentity();
 		m_width = 1024.0f;
 		m_height = 768.0f;
@@ -77,6 +82,92 @@ public:
 	float32 m_zFar;
 };
 
+inline b3Mat44 MakeMat44(const b3Transform& T)
+{
+	return b3Mat44(
+		b3Vec4(T.rotation.x.x, T.rotation.x.y, T.rotation.x.z, 0.0f),
+		b3Vec4(T.rotation.y.x, T.rotation.y.y, T.rotation.y.z, 0.0f),
+		b3Vec4(T.rotation.z.x, T.rotation.z.y, T.rotation.z.z, 0.0f),
+		b3Vec4(T.position.x, T.position.y, T.position.z, 1.0f));
+}
+
+inline b3Mat44 Camera::BuildProjectionMatrix() const
+{
+	float32 t = tan(0.5f * m_fovy);
+	float32 sy = 1.0f / t;
+
+	float32 aspect = m_width / m_height;
+	float32 sx = 1.0f / (aspect * t);
+
+	float32 invRange = 1.0f / (m_zNear - m_zFar);
+	float32 sz = invRange * (m_zNear + m_zFar);
+	float32 tz = invRange * m_zNear * m_zFar;
+
+	b3Mat44 m;
+	m.x = b3Vec4(sx, 0.0f, 0.0f, 0.0f);
+	m.y = b3Vec4(0.0f, sy, 0.0f, 0.0f);
+	m.z = b3Vec4(0.0f, 0.0f, sz, -1.0f);
+	m.w = b3Vec4(0.0f, 0.0f, tz, 0.0f);
+	return m;
+}
+
+inline b3Transform Camera::BuildWorldTransform() const
+{
+	b3Transform xf;
+	xf.rotation = b3QuatMat33(m_q);
+	xf.position = (m_zoom * xf.rotation.z) - m_center;
+	return xf;
+}
+
+inline b3Mat44 Camera::BuildWorldMatrix() const
+{
+	b3Transform xf = BuildWorldTransform();
+	return MakeMat44(xf);
+}
+
+inline b3Transform Camera::BuildViewTransform() const
+{
+	b3Transform xf;
+	xf.rotation = b3QuatMat33(m_q);
+	xf.position = (m_zoom * xf.rotation.z) - m_center;
+	return b3Inverse(xf);
+}
+
+inline b3Mat44 Camera::BuildViewMatrix() const
+{
+	b3Transform xf = BuildViewTransform();
+	return MakeMat44(xf);
+}
+
+inline b3Vec2 Camera::ConvertWorldToScreen(const b3Vec3& pw) const
+{
+	b3Vec2 ps;
+	ps.SetZero();
+	return ps;
+}
+
+inline Ray3 Camera::ConvertScreenToWorld(const b3Vec2& ps) const
+{
+	// Essential Math, page 250.
+	float32 t = tan(0.5f * m_fovy);
+	float32 aspect = m_width / m_height;
+
+	b3Vec3 pv;
+	pv.x = 2.0f * aspect * ps.x / m_width - aspect;
+	pv.y = -2.0f * ps.y / m_height + 1.0f;
+	pv.z = -1.0f / t;
+
+	b3Transform xf = BuildWorldTransform();
+	b3Vec3 pw = xf * pv;
+
+	Ray3 rw;
+	rw.direction = b3Normalize(pw - xf.position);
+	rw.origin = xf.position;
+	rw.fraction = m_zFar;
+	return rw;
+}
+
+//
 class DebugDraw : public b3Draw
 {
 public:
@@ -114,8 +205,8 @@ public:
 	void DrawTransform(const b3Transform& xf);
 
 	//
-	void DrawString(const char* string, const b3Color& color, ...);
-
+	void DrawString(const b3Color& color, const char* string, ...);
+	
 	void DrawSphere(const b3SphereShape* s, const b3Color& c, const b3Transform& xf);
 
 	void DrawCapsule(const b3CapsuleShape* s, const b3Color& c, const b3Transform& xf);
@@ -139,4 +230,8 @@ private:
 	DrawSolid* m_solid;
 };
 
+extern DebugDraw* g_debugDraw;
+extern Camera* g_camera;
+extern const char* g_overlayName;
+
 #endif
\ No newline at end of file
diff --git a/examples/testbed/framework/debug_draw_2.cpp b/examples/testbed/framework/debug_draw_2.cpp
index 6d090cd..dba41c9 100644
--- a/examples/testbed/framework/debug_draw_2.cpp
+++ b/examples/testbed/framework/debug_draw_2.cpp
@@ -24,99 +24,10 @@
 #include <stdio.h>
 #include <stdarg.h>
 
-extern Camera g_camera;
-extern DebugDraw* g_debugDraw;
-extern const char* g_logName;
-
-static B3_FORCE_INLINE b3Mat34 Convert34(const b3Transform& T)
-{
-	return b3Mat34(T.rotation.x, T.rotation.y, T.rotation.z, T.position);
-}
-
-static B3_FORCE_INLINE b3Mat44 Convert44(const b3Transform& T)
-{
-	return b3Mat44(
-		b3Vec4(T.rotation.x.x, T.rotation.x.y, T.rotation.x.z, 0.0f),
-		b3Vec4(T.rotation.y.x, T.rotation.y.y, T.rotation.y.z, 0.0f),
-		b3Vec4(T.rotation.z.x, T.rotation.z.y, T.rotation.z.z, 0.0f),
-		b3Vec4(T.position.x, T.position.y, T.position.z, 1.0f));
-}
-
-b3Mat44 Camera::BuildProjectionMatrix() const
-{
-	float32 t = tan(0.5f * m_fovy);
-	float32 sy = 1.0f / t;
-
-	float32 aspect = m_width / m_height;
-	float32 sx = 1.0f / (aspect * t);
-
-	float32 invRange = 1.0f / (m_zNear - m_zFar);
-	float32 sz = invRange * (m_zNear + m_zFar);
-	float32 tz = invRange *  m_zNear * m_zFar;
-
-	b3Mat44 m;
-	m.x = b3Vec4(sx, 0.0f, 0.0f, 0.0f);
-	m.y = b3Vec4(0.0f, sy, 0.0f, 0.0f);
-	m.z = b3Vec4(0.0f, 0.0f, sz, -1.0f);
-	m.w = b3Vec4(0.0f, 0.0f, tz, 0.0f);
-	return m;
-}
-
-b3Transform Camera::BuildWorldTransform() const
-{
-	b3Transform xf;
-	xf.rotation = b3QuatMat33(m_q);
-	xf.position = (m_zoom * xf.rotation.z) - m_center;
-	return xf;
-}
-
-b3Mat44 Camera::BuildWorldMatrix() const
-{
-	b3Transform xf = BuildWorldTransform();
-	return Convert44(xf);
-}
-
-b3Transform Camera::BuildViewTransform() const
-{
-	b3Transform xf;
-	xf.rotation = b3QuatMat33(m_q);
-	xf.position = (m_zoom * xf.rotation.z) - m_center;
-	return b3Inverse(xf);
-}
-
-b3Mat44 Camera::BuildViewMatrix() const
-{
-	b3Transform xf = BuildViewTransform();
-	return Convert44(xf);
-}
-
-b3Vec2 Camera::ConvertWorldToScreen(const b3Vec3& pw) const
-{
-	b3Vec2 ps;
-	ps.SetZero();
-	return ps;
-}
-
-Ray3 Camera::ConvertScreenToWorld(const b3Vec2& ps) const
-{
-	// Essential Math, page 250.
-	float32 t = tan(0.5f * m_fovy);
-	float32 aspect = m_width / m_height;
-
-	b3Vec3 pv;
-	pv.x = 2.0f * aspect * ps.x / m_width - aspect;
-	pv.y = -2.0f * ps.y / m_height + 1.0f;
-	pv.z = -1.0f / t;
-
-	b3Transform xf = BuildWorldTransform();
-	b3Vec3 pw = xf * pv;
-
-	Ray3 rw;
-	rw.direction = b3Normalize(pw - xf.position);
-	rw.origin = xf.position;
-	rw.fraction = m_zFar;
-	return rw;
-}
+// 
+DebugDraw* g_debugDraw = nullptr;
+Camera* g_camera = nullptr;
+const char* g_overlayName = nullptr;
 
 #define BUFFER_OFFSET(i) ((char*)NULL + (i))
 
@@ -283,8 +194,8 @@ struct DrawPoints
 
 		glUseProgram(m_programId);
 
-		b3Mat44 m1 = g_camera.BuildViewMatrix();
-		b3Mat44 m2 = g_camera.BuildProjectionMatrix();
+		b3Mat44 m1 = g_camera->BuildViewMatrix();
+		b3Mat44 m2 = g_camera->BuildProjectionMatrix();
 		b3Mat44 m = m2 * m1;
 
 		glUniformMatrix4fv(m_projectionUniform, 1, GL_FALSE, &m.x.x);
@@ -412,8 +323,8 @@ struct DrawLines
 
 		glUseProgram(m_programId);
 
-		b3Mat44 m1 = g_camera.BuildViewMatrix();
-		b3Mat44 m2 = g_camera.BuildProjectionMatrix();
+		b3Mat44 m1 = g_camera->BuildViewMatrix();
+		b3Mat44 m2 = g_camera->BuildProjectionMatrix();
 		b3Mat44 m = m2 * m1;
 		glUniformMatrix4fv(m_projectionUniform, 1, GL_FALSE, &m.x.x);
 
@@ -542,8 +453,8 @@ struct DrawTriangles
 
 		glUseProgram(m_programId);
 
-		b3Mat44 m1 = g_camera.BuildViewMatrix();
-		b3Mat44 m2 = g_camera.BuildProjectionMatrix();
+		b3Mat44 m1 = g_camera->BuildViewMatrix();
+		b3Mat44 m2 = g_camera->BuildProjectionMatrix();
 		b3Mat44 m = m2 * m1;
 
 		glUniformMatrix4fv(m_projectionUniform, 1, GL_FALSE, &m.x.x);
@@ -722,12 +633,12 @@ struct DrawWire
 	{
 		glUseProgram(m_programId);
 
-		b3Mat44 m1 = Convert44(xf);
+		b3Mat44 m1 = MakeMat44(xf);
 		m1.x = radius * m1.x;
 		m1.y = radius * m1.y;
 		m1.z = radius * m1.z;
-		b3Mat44 m2 = g_camera.BuildViewMatrix();
-		b3Mat44 m3 = g_camera.BuildProjectionMatrix();
+		b3Mat44 m2 = g_camera->BuildViewMatrix();
+		b3Mat44 m3 = g_camera->BuildProjectionMatrix();
 		b3Mat44 m = m3 * m2 * m1;
 
 		glUniformMatrix4fv(m_projectionUniform, 1, GL_FALSE, &m.x.x);
@@ -1011,13 +922,13 @@ struct DrawSolid
 	{
 		glUseProgram(m_programId);
 
-		b3Mat44 m1 = Convert44(xf);
+		b3Mat44 m1 = MakeMat44(xf);
 		m1.x = radius * m1.x;
 		m1.y = height * m1.y;
 		m1.z = radius * m1.z;
 
-		b3Mat44 m2 = g_camera.BuildViewMatrix();
-		b3Mat44 m3 = g_camera.BuildProjectionMatrix();
+		b3Mat44 m2 = g_camera->BuildViewMatrix();
+		b3Mat44 m3 = g_camera->BuildProjectionMatrix();
 		b3Mat44 m = m3 * m2 * m1;
 
 		glUniform4fv(m_colorUniform, 1, &c.r);
@@ -1049,13 +960,13 @@ struct DrawSolid
 	{
 		glUseProgram(m_programId);
 
-		b3Mat44 m1 = Convert44(xf);
+		b3Mat44 m1 = MakeMat44(xf);
 		m1.x = radius * m1.x;
 		m1.y = radius * m1.y;
 		m1.z = radius * m1.z;
 
-		b3Mat44 m2 = g_camera.BuildViewMatrix();
-		b3Mat44 m3 = g_camera.BuildProjectionMatrix();
+		b3Mat44 m2 = g_camera->BuildViewMatrix();
+		b3Mat44 m3 = g_camera->BuildProjectionMatrix();
 		b3Mat44 m = m3 * m2 * m1;
 
 		glUniform4fv(m_colorUniform, 1, &c.r);
@@ -1137,7 +1048,7 @@ void DebugDraw::DrawSolidTriangle(const b3Vec3& normal, const b3Vec3& p1, const
 	m_triangles->Vertex(p3, color, normal);
 
 	b3Color edgeColor(0.0f, 0.0f, 0.0f, 1.0f);
-	DrawTriangle(p2, p3, p3, edgeColor);
+	DrawTriangle(p1, p2, p3, edgeColor);
 }
 
 void DebugDraw::DrawSolidTriangle(const b3Vec3& normal, const b3Vec3& p1, const b3Color& color1, const b3Vec3& p2, const b3Color& color2, const b3Vec3& p3, const b3Color& color3)
@@ -1147,7 +1058,7 @@ void DebugDraw::DrawSolidTriangle(const b3Vec3& normal, const b3Vec3& p1, const
 	m_triangles->Vertex(p3, color3, normal);
 
 	b3Color edgeColor(0.0f, 0.0f, 0.0f, 1.0f);
-	DrawTriangle(p2, p3, p3, edgeColor);
+	DrawTriangle(p1, p2, p3, edgeColor);
 }
 
 void DebugDraw::DrawPolygon(const b3Vec3* vertices, u32 count, const b3Color& color)
@@ -1397,14 +1308,19 @@ void DebugDraw::DrawAABB(const b3AABB3& aabb, const b3Color& color)
 	DrawSegment(vs[1], vs[7], color);
 }
 
-void DebugDraw::DrawString(const char* text, const b3Color& color, ...)
+void DebugDraw::DrawString(const b3Color& color, const char* text, ...)
 {
-	va_list arg;
-	va_start(arg, text);
-	ImGui::Begin(g_logName, NULL, ImVec2(0, 0), 0.0f, ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoInputs | ImGuiWindowFlags_AlwaysAutoResize | ImGuiWindowFlags_NoScrollbar);
-	ImGui::TextColoredV(ImVec4(color.r, color.g, color.b, color.a), text, arg);
+	va_list args;
+	va_start(args, text);
+
+	ImGui::SetNextWindowPos(ImVec2(0.0f, 0.0f));
+	ImGui::SetNextWindowSize(ImVec2(g_camera->m_width, g_camera->m_height));
+	
+	ImGui::Begin(g_overlayName, NULL, ImVec2(0.0f, 0.0f), 0.0f, ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoInputs | ImGuiWindowFlags_AlwaysAutoResize | ImGuiWindowFlags_NoScrollbar);
+	ImGui::TextColoredV(ImVec4(color.r, color.g, color.b, color.a), text, args);
 	ImGui::End();
-	va_end(arg);
+
+	va_end(args);
 }
 
 void DebugDraw::DrawSphere(const b3SphereShape* s, const b3Color& c, const b3Transform& xf)
diff --git a/examples/testbed/framework/debug_draw_4.cpp b/examples/testbed/framework/debug_draw_4.cpp
index 4934b3c..68e7dc1 100644
--- a/examples/testbed/framework/debug_draw_4.cpp
+++ b/examples/testbed/framework/debug_draw_4.cpp
@@ -24,99 +24,10 @@
 #include <stdio.h>
 #include <stdarg.h>
 
-extern Camera g_camera;
-extern DebugDraw* g_debugDraw;
-extern const char* g_logName;
-
-static B3_FORCE_INLINE b3Mat34 Convert34(const b3Transform& T)
-{
-	return b3Mat34(T.rotation.x, T.rotation.y, T.rotation.z, T.position);
-}
-
-static B3_FORCE_INLINE b3Mat44 Convert44(const b3Transform& T)
-{
-	return b3Mat44(
-		b3Vec4(T.rotation.x.x, T.rotation.x.y, T.rotation.x.z, 0.0f),
-		b3Vec4(T.rotation.y.x, T.rotation.y.y, T.rotation.y.z, 0.0f),
-		b3Vec4(T.rotation.z.x, T.rotation.z.y, T.rotation.z.z, 0.0f),
-		b3Vec4(T.position.x, T.position.y, T.position.z, 1.0f));
-}
-
-b3Mat44 Camera::BuildProjectionMatrix() const
-{
-	float32 t = tan(0.5f * m_fovy);
-	float32 sy = 1.0f / t;
-
-	float32 aspect = m_width / m_height;
-	float32 sx = 1.0f / (aspect * t);
-
-	float32 invRange = 1.0f / (m_zNear - m_zFar);
-	float32 sz = invRange * (m_zNear + m_zFar);
-	float32 tz = invRange *  m_zNear * m_zFar;
-
-	b3Mat44 m;
-	m.x = b3Vec4(sx, 0.0f, 0.0f, 0.0f);
-	m.y = b3Vec4(0.0f, sy, 0.0f, 0.0f);
-	m.z = b3Vec4(0.0f, 0.0f, sz, -1.0f);
-	m.w = b3Vec4(0.0f, 0.0f, tz, 0.0f);
-	return m;
-}
-
-b3Transform Camera::BuildWorldTransform() const
-{
-	b3Transform xf;
-	xf.rotation = b3QuatMat33(m_q);
-	xf.position = (m_zoom * xf.rotation.z) - m_center;
-	return xf;
-}
-
-b3Mat44 Camera::BuildWorldMatrix() const
-{
-	b3Transform xf = BuildWorldTransform();
-	return Convert44(xf);
-}
-
-b3Transform Camera::BuildViewTransform() const
-{
-	b3Transform xf;
-	xf.rotation = b3QuatMat33(m_q);
-	xf.position = (m_zoom * xf.rotation.z) - m_center;
-	return b3Inverse(xf);
-}
-
-b3Mat44 Camera::BuildViewMatrix() const
-{
-	b3Transform xf = BuildViewTransform();
-	return Convert44(xf);
-}
-
-b3Vec2 Camera::ConvertWorldToScreen(const b3Vec3& pw) const
-{
-	b3Vec2 ps;
-	ps.SetZero();
-	return ps;
-}
-
-Ray3 Camera::ConvertScreenToWorld(const b3Vec2& ps) const
-{
-	// Essential Math, page 250.
-	float32 t = tan(0.5f * m_fovy);
-	float32 aspect = m_width / m_height;
-
-	b3Vec3 pv;
-	pv.x = 2.0f * aspect * ps.x / m_width - aspect;
-	pv.y = -2.0f * ps.y / m_height + 1.0f;
-	pv.z = -1.0f / t;
-
-	b3Transform xf = BuildWorldTransform();
-	b3Vec3 pw = xf * pv;
-
-	Ray3 rw;
-	rw.direction = b3Normalize(pw - xf.position);
-	rw.origin = xf.position;
-	rw.fraction = m_zFar;
-	return rw;
-}
+// 
+DebugDraw* g_debugDraw = nullptr;
+Camera* g_camera = nullptr;
+const char* g_overlayName = nullptr;
 
 #define BUFFER_OFFSET(i) ((char*)NULL + (i))
 
@@ -297,8 +208,8 @@ struct DrawPoints
 
 		glUseProgram(m_programId);
 
-		b3Mat44 m1 = g_camera.BuildViewMatrix();
-		b3Mat44 m2 = g_camera.BuildProjectionMatrix();
+		b3Mat44 m1 = g_camera->BuildViewMatrix();
+		b3Mat44 m2 = g_camera->BuildProjectionMatrix();
 		b3Mat44 m = m2 * m1;
 
 		glUniformMatrix4fv(m_projectionUniform, 1, GL_FALSE, &m.x.x);
@@ -428,8 +339,8 @@ struct DrawLines
 
 		glUseProgram(m_programId);
 
-		b3Mat44 m1 = g_camera.BuildViewMatrix();
-		b3Mat44 m2 = g_camera.BuildProjectionMatrix();
+		b3Mat44 m1 = g_camera->BuildViewMatrix();
+		b3Mat44 m2 = g_camera->BuildProjectionMatrix();
 		b3Mat44 m = m2 * m1;
 		glUniformMatrix4fv(m_projectionUniform, 1, GL_FALSE, &m.x.x);
 
@@ -566,8 +477,8 @@ struct DrawTriangles
 
 		glUseProgram(m_programId);
 
-		b3Mat44 m1 = g_camera.BuildViewMatrix();
-		b3Mat44 m2 = g_camera.BuildProjectionMatrix();
+		b3Mat44 m1 = g_camera->BuildViewMatrix();
+		b3Mat44 m2 = g_camera->BuildProjectionMatrix();
 		b3Mat44 m = m2 * m1;
 
 		glUniformMatrix4fv(m_projectionUniform, 1, GL_FALSE, &m.x.x);
@@ -739,12 +650,12 @@ struct DrawWire
 	{
 		glUseProgram(m_programId);
 
-		b3Mat44 m1 = Convert44(xf);
+		b3Mat44 m1 = MakeMat44(xf);
 		m1.x = radius * m1.x;
 		m1.y = radius * m1.y;
 		m1.z = radius * m1.z;
-		b3Mat44 m2 = g_camera.BuildViewMatrix();
-		b3Mat44 m3 = g_camera.BuildProjectionMatrix();
+		b3Mat44 m2 = g_camera->BuildViewMatrix();
+		b3Mat44 m3 = g_camera->BuildProjectionMatrix();
 		b3Mat44 m = m3 * m2 * m1;
 
 		glUniformMatrix4fv(m_projectionUniform, 1, GL_FALSE, &m.x.x);
@@ -1027,13 +938,13 @@ struct DrawSolid
 	{
 		glUseProgram(m_programId);
 
-		b3Mat44 m1 = Convert44(xf);
+		b3Mat44 m1 = MakeMat44(xf);
 		m1.x = radius * m1.x;
 		m1.y = height * m1.y;
 		m1.z = radius * m1.z;
 
-		b3Mat44 m2 = g_camera.BuildViewMatrix();
-		b3Mat44 m3 = g_camera.BuildProjectionMatrix();
+		b3Mat44 m2 = g_camera->BuildViewMatrix();
+		b3Mat44 m3 = g_camera->BuildProjectionMatrix();
 		b3Mat44 m = m3 * m2 * m1;
 
 		glUniform4fv(m_colorUniform, 1, &c.r);
@@ -1061,13 +972,13 @@ struct DrawSolid
 	{
 		glUseProgram(m_programId);
 
-		b3Mat44 m1 = Convert44(xf);
+		b3Mat44 m1 = MakeMat44(xf);
 		m1.x = radius * m1.x;
 		m1.y = radius * m1.y;
 		m1.z = radius * m1.z;
 
-		b3Mat44 m2 = g_camera.BuildViewMatrix();
-		b3Mat44 m3 = g_camera.BuildProjectionMatrix();
+		b3Mat44 m2 = g_camera->BuildViewMatrix();
+		b3Mat44 m3 = g_camera->BuildProjectionMatrix();
 		b3Mat44 m = m3 * m2 * m1;
 
 		glUniform4fv(m_colorUniform, 1, &c.r);
@@ -1145,7 +1056,7 @@ void DebugDraw::DrawSolidTriangle(const b3Vec3& normal, const b3Vec3& p1, const
 	m_triangles->Vertex(p3, color, normal);
 
 	b3Color edgeColor(0.0f, 0.0f, 0.0f, 1.0f);
-	DrawTriangle(p2, p3, p3, edgeColor);
+	DrawTriangle(p1, p2, p3, edgeColor);
 }
 
 void DebugDraw::DrawSolidTriangle(const b3Vec3& normal, const b3Vec3& p1, const b3Color& color1, const b3Vec3& p2, const b3Color& color2, const b3Vec3& p3, const b3Color& color3)
@@ -1155,7 +1066,7 @@ void DebugDraw::DrawSolidTriangle(const b3Vec3& normal, const b3Vec3& p1, const
 	m_triangles->Vertex(p3, color3, normal);
 
 	b3Color edgeColor(0.0f, 0.0f, 0.0f, 1.0f);
-	DrawTriangle(p2, p3, p3, edgeColor);
+	DrawTriangle(p1, p2, p3, edgeColor);
 }
 
 void DebugDraw::DrawPolygon(const b3Vec3* vertices, u32 count, const b3Color& color)
@@ -1405,14 +1316,19 @@ void DebugDraw::DrawAABB(const b3AABB3& aabb, const b3Color& color)
 	DrawSegment(vs[1], vs[7], color);
 }
 
-void DebugDraw::DrawString(const char* text, const b3Color& color, ...)
+void DebugDraw::DrawString(const b3Color& color, const char* text, ...)
 {
-	va_list arg;
-	va_start(arg, text);
-	ImGui::Begin(g_logName, NULL, ImVec2(0, 0), 0.0f, ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoInputs | ImGuiWindowFlags_AlwaysAutoResize | ImGuiWindowFlags_NoScrollbar);
-	ImGui::TextColoredV(ImVec4(color.r, color.g, color.b, color.a), text, arg);
+	va_list args;
+	va_start(args, text);
+
+	ImGui::SetNextWindowPos(ImVec2(0.0f, 0.0f));
+	ImGui::SetNextWindowSize(ImVec2(g_camera->m_width, g_camera->m_height));
+
+	ImGui::Begin(g_overlayName, NULL, ImVec2(0.0f, 0.0f), 0.0f, ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoInputs | ImGuiWindowFlags_AlwaysAutoResize | ImGuiWindowFlags_NoScrollbar);
+	ImGui::TextColoredV(ImVec4(color.r, color.g, color.b, color.a), text, args);
 	ImGui::End();
-	va_end(arg);
+
+	va_end(args);
 }
 
 void DebugDraw::DrawSphere(const b3SphereShape* s, const b3Color& c, const b3Transform& xf)
diff --git a/examples/testbed/framework/main.cpp b/examples/testbed/framework/main.cpp
index 17224b4..d6a3fe8 100644
--- a/examples/testbed/framework/main.cpp
+++ b/examples/testbed/framework/main.cpp
@@ -16,166 +16,53 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#if defined(__APPLE_CC__)
-#include <OpenGL/gl3.h>
+#if defined (U_OPENGL_2)
+	#include <glad_2/glad.h>
+#elif defined (U_OPENGL_4)
+	#include <glad_4/glad.h>
 #else
-
-#if defined(U_OPENGL_2)
-#include <glad_2/glad.h>
-#elif defined(U_OPENGL_4)
-#include <glad_4/glad.h>
-#else
-
+	// error
 #endif
 
-#endif
-
-#include <imgui/imgui.h>
-
-#if defined(U_OPENGL_2)
-#include <imgui/imgui_impl_glfw_gl2.h>
-#elif defined(U_OPENGL_4)
-#include <imgui/imgui_impl_glfw_gl3.h>
-#else
-// error
-#endif
-
-#include <testbed/framework/testbed_listener.h>
-#include <testbed/tests/test.h>
-#include <glfw/glfw3.h>
+#include <testbed/framework/model.h>
+#include <testbed/framework/view.h>
+#include <testbed/framework/controller.h>
 
 //
 GLFWwindow* g_window;
-Settings g_settings;
-Test* g_test;
-u32 g_testCount;
-Camera g_camera;
-DebugDraw* g_debugDraw;
-Profiler* g_profiler;
-TestbedListener g_testbedListener;
-ProfilerListener* g_profilerListener = &g_testbedListener;
-RecorderProfiler g_recorderProfiler;
-bool g_leftDown;
-bool g_rightDown;
-bool g_shiftDown;
-b3Vec2 g_ps0;
-const char* g_logName = { "log" };
 
-// These two functions below implement Bounce's profiling interfaces.
-// If you're not concerned with profiling then just define two slut functions.
-bool b3PushProfileScope(const char* name)
+//
+Model* g_model;
+View* g_view;
+Controller* g_controller;
+
+static void WindowSize(GLFWwindow* ww, int w, int h)
 {
-	return g_profiler->PushEvent(name);
+	g_controller->Event_SetWindowSize(u32(w), u32(h));
 }
 
-void b3PopProfileScope()
+static void CursorMove(GLFWwindow* w, double x, double y)
 {
-	g_profiler->PopEvent();
+	g_controller->Event_Move_Cursor(float32(x), float32(y));
 }
 
-static void WindowSize(int w, int h)
+static void WheelScroll(GLFWwindow* w, double dx, double dy)
 {
-	g_camera.m_width = float32(w);
-	g_camera.m_height = float32(h);
-}
-
-static void MouseMove(GLFWwindow* w, double x, double y)
-{
-	b3Vec2 ps;
-	ps.Set(float32(x), float32(y));
-
-	b3Vec2 dp = ps - g_ps0;
-	g_ps0 = ps;
-
-	Ray3 pw = g_camera.ConvertScreenToWorld(ps);
-
-	float32 nx = b3Clamp(dp.x, -1.0f, 1.0f);
-	float32 ny = b3Clamp(dp.y, -1.0f, 1.0f);
-
-	if (g_shiftDown)
-	{
-		if (g_leftDown)
-		{
-			// Negate angles to do positive rotations (CCW) of the world.
-			float32 angleY = 0.005f * B3_PI * -ny;
-			float32 angleX = 0.005f * B3_PI * -nx;
-
-			b3Quat qx = b3QuatRotationX(angleY);
-			b3Quat qy = b3QuatRotationY(angleX);
-
-			g_camera.m_q = g_camera.m_q * qx;
-			g_camera.m_q = qy * g_camera.m_q;
-			g_camera.m_q.Normalize();
-		}
-
-		if (g_rightDown)
-		{
-			b3Transform xf = g_camera.BuildWorldTransform();
-			g_camera.m_center += 0.2f * nx * xf.rotation.x;
-			g_camera.m_center += 0.2f * -ny * xf.rotation.y;
-		}
-	}
-	else
-	{
-		g_test->MouseMove(pw);
-	}
-}
-
-static void MouseWheel(GLFWwindow* w, double dx, double dy)
-{
-	float32 n = b3Clamp(float32(dy), -1.0f, 1.0f);
-	if (g_shiftDown)
-	{
-		g_camera.m_zoom += 0.5f * -n;
-	}
+	g_controller->Event_Scroll(float32(dx), float32(dy));
 }
 
 static void MouseButton(GLFWwindow* w, int button, int action, int mods)
 {
-	double x, y;
-	glfwGetCursorPos(w, &x, &y);
-	b3Vec2 p;
-	p.Set(float32(x), float32(y));
-
-	Ray3 pw = g_camera.ConvertScreenToWorld(p);
-
 	switch (action)
 	{
 	case GLFW_PRESS:
 	{
-		if (button == GLFW_MOUSE_BUTTON_LEFT)
-		{
-			g_leftDown = true;
-
-			if (g_shiftDown == false)
-			{
-				g_test->MouseLeftDown(pw);
-			}
-		}
-
-		if (button == GLFW_MOUSE_BUTTON_RIGHT)
-		{
-			g_rightDown = true;
-		}
-
+		g_controller->Event_Press_Mouse(button);
 		break;
 	}
 	case GLFW_RELEASE:
 	{
-		if (button == GLFW_MOUSE_BUTTON_LEFT)
-		{
-			g_leftDown = false;
-
-			if (g_shiftDown == false)
-			{
-				g_test->MouseLeftUp(pw);
-			}
-		}
-
-		if (button == GLFW_MOUSE_BUTTON_RIGHT)
-		{
-			g_rightDown = false;
-		}
+		g_controller->Event_Release_Mouse(button);
 		break;
 	}
 	default:
@@ -191,43 +78,13 @@ static void KeyButton(GLFWwindow* w, int button, int scancode, int action, int m
 	{
 	case GLFW_PRESS:
 	{
-		if (button == GLFW_KEY_LEFT_SHIFT)
-		{
-			g_shiftDown = true;
-			g_test->KeyDown(button);
-		}
-
-		if (g_shiftDown)
-		{
-			if (button == GLFW_KEY_DOWN)
-			{
-				g_camera.m_zoom += 0.2f;
-			}
-
-			if (button == GLFW_KEY_UP)
-			{
-				g_camera.m_zoom -= 0.2f;
-			}
-		}
-		else
-		{
-			g_test->KeyDown(button);
-		}
-
+		g_controller->Event_Press_Key(button);
+		
 		break;
 	}
 	case GLFW_RELEASE:
 	{
-		if (button == GLFW_KEY_LEFT_SHIFT)
-		{
-			g_shiftDown = false;
-		}
-
-		if (g_shiftDown == false)
-		{
-			g_test->KeyUp(button);
-		}
-
+		g_controller->Event_Release_Key(button);
 		break;
 	}
 	default:
@@ -237,303 +94,34 @@ static void KeyButton(GLFWwindow* w, int button, int scancode, int action, int m
 	}
 }
 
-static inline bool ImGui_GLFW_GL_Init(GLFWwindow* w, bool install_callbacks)
-{
-
-#if defined(U_OPENGL_2)
-
-	return ImGui_ImplGlfwGL2_Init(g_window, false);
-
-#elif defined(U_OPENGL_4)
-
-	return ImGui_ImplGlfwGL3_Init(g_window, false);
-
-#else
-
-	// error
-
-#endif
-
-}
-
-static inline void ImGui_GLFW_GL_Shutdown()
-{
-
-#if defined(U_OPENGL_2)
-
-	ImGui_ImplGlfwGL2_Shutdown();
-
-#elif defined(U_OPENGL_4)
-
-	ImGui_ImplGlfwGL3_Shutdown();
-
-#else
-
-	// error
-
-#endif
-
-}
-
-static inline void ImGui_GLFW_GL_NewFrame()
-{
-
-#if defined(U_OPENGL_2)
-
-	ImGui_ImplGlfwGL2_NewFrame();
-
-#elif defined(U_OPENGL_4)
-	
-	ImGui_ImplGlfwGL3_NewFrame();
-
-#else
-
-	// error
-
-#endif
-
-}
-
-static inline void ImGui_GLFW_GL_RenderDrawData(ImDrawData* data)
-{
-
-#if defined(U_OPENGL_2)
-
-	ImGui_ImplGlfwGL2_RenderDrawData(data);
-
-#elif defined(U_OPENGL_4)
-
-	ImGui_ImplGlfwGL3_RenderDrawData(data);
-
-#else
-
-	// error
-
-#endif
-
-}
-
-static void Char(GLFWwindow* w, unsigned int codepoint)
-{
-	ImGui_ImplGlfw_CharCallback(w, codepoint);
-}
-
-static void CreateInterface()
-{
-	ImGui::CreateContext();
-
-	ImGuiIO& io = ImGui::GetIO();
-	io.Fonts[0].AddFontDefault();
-
-	ImGui_GLFW_GL_Init(g_window, false);
-
-	ImGui::StyleColorsDark();
-}
-
-static void DestroyInterface()
-{
-	ImGui_GLFW_GL_Shutdown();
-
-	ImGui::DestroyContext();
-}
-
-static bool GetTestName(void*, int idx, const char** name)
-{
-	*name = g_tests[idx].name;
-	return true;
-}
-
-static void Interface()
-{
-	ImGui::SetNextWindowPos(ImVec2(g_camera.m_width - 250.0f, 0.0f));
-	ImGui::SetNextWindowSize(ImVec2(250.0f, g_camera.m_height));
-	ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 0.0f);
-
-	ImGui::Begin("Controls", NULL, ImVec2(0.0f, 0.0f), 0.25f, ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoResize);
-
-	ImGui::PushItemWidth(-1.0f);
-
-	ImGui::Text("Test");
-	if (ImGui::Combo("##Test", &g_settings.testID, GetTestName, NULL, g_testCount, g_testCount))
-	{
-		g_settings.lastTestID = -1;
-	}
-
-	ImVec2 buttonSize = ImVec2(-1, 0);
-	if (ImGui::Button("Restart", buttonSize))
-	{
-		g_settings.lastTestID = -1;
-	}
-	if (ImGui::Button("Previous", buttonSize))
-	{
-		g_settings.testID = b3Clamp(g_settings.testID - 1, 0, int(g_testCount) - 1);
-		g_settings.lastTestID = -1;
-	}
-	if (ImGui::Button("Next", buttonSize))
-	{
-		g_settings.testID = b3Clamp(g_settings.testID + 1, 0, int(g_testCount) - 1);
-		g_settings.lastTestID = -1;
-	}
-	if (ImGui::Button("Dump", buttonSize))
-	{
-		if (g_test)
-		{
-			g_test->Dump();
-		}
-	}
-	if (ImGui::Button("Exit", buttonSize))
-	{
-		glfwSetWindowShouldClose(g_window, true);
-	}
-
-	ImGui::Separator();
-
-	ImGui::Text("Step");
-
-	ImGui::Text("Hertz");
-	ImGui::SliderFloat("##Hertz", &g_settings.hertz, 0.0f, 240.0f, "%.1f");
-	ImGui::Text("Velocity Iterations");
-	ImGui::SliderInt("##Velocity Iterations", &g_settings.velocityIterations, 0, 50);
-	ImGui::Text("Position Iterations");
-	ImGui::SliderInt("#Position Iterations", &g_settings.positionIterations, 0, 50);
-	ImGui::Checkbox("Sleep", &g_settings.sleep);
-	ImGui::Checkbox("Convex Cache", &g_settings.convexCache);
-	ImGui::Checkbox("Warm Start", &g_settings.warmStart);
-
-	if (ImGui::Button("Play/Pause", buttonSize))
-	{
-		g_settings.pause = !g_settings.pause;
-	}
-	if (ImGui::Button("Single Step", buttonSize))
-	{
-		g_settings.pause = true;
-		g_settings.singleStep = true;
-	}
-
-	ImGui::Separator();
-
-	ImGui::Text("View");
-	ImGui::Checkbox("Grid", &g_settings.drawGrid);
-	ImGui::Checkbox("Vertices and Edges", &g_settings.drawVerticesEdges);
-	ImGui::Checkbox("Faces", &g_settings.drawFaces);
-	ImGui::Checkbox("Center of Masses", &g_settings.drawCenterOfMasses);
-	ImGui::Checkbox("Bounding Boxes", &g_settings.drawBounds);
-	ImGui::Checkbox("Joints", &g_settings.drawJoints);
-	ImGui::Checkbox("Contact Points", &g_settings.drawContactPoints);
-	ImGui::Checkbox("Contact Normals", &g_settings.drawContactNormals);
-	ImGui::Checkbox("Contact Tangents", &g_settings.drawContactTangents);
-	ImGui::Checkbox("Contact Polygons", &g_settings.drawContactPolygons);
-	ImGui::Checkbox("Statistics", &g_settings.drawStats);
-	ImGui::Checkbox("Profile", &g_settings.drawProfile);
-
-	ImGui::End();
-	ImGui::PopStyleVar();
-}
-
-static void Step()
-{
-	if (g_settings.pause)
-	{
-		g_debugDraw->DrawString("*PAUSED*", b3Color_white);
-	}
-	else
-	{
-		g_debugDraw->DrawString("*PLAYING*", b3Color_white);
-	}
-
-	if (g_settings.drawGrid)
-	{
-		b3Color color(0.2f, 0.2f, 0.2f, 1.0f);
-
-		b3Vec3 pn(0.0f, 1.0f, 0.0f);
-		b3Vec3 p(0.0f, 0.0f, 0.0f);
-		g_debugDraw->DrawCircle(pn, p, 1.0f, color);
-
-		int n = 20;
-
-		b3Vec3 t;
-		t.x = -0.5f * float32(n);
-		t.y = 0.0f;
-		t.z = -0.5f * float32(n);
-
-		for (int i = 0; i < n; i += 1)
-		{
-			for (int j = 0; j < n; j += 1)
-			{
-				b3Vec3 vs[4];
-				vs[0] = b3Vec3((float)i, 0.0f, (float)j);
-				vs[1] = b3Vec3((float)i, 0.0f, (float)j + 1);
-				vs[2] = b3Vec3((float)i + 1, 0.0f, (float)j + 1);
-				vs[3] = b3Vec3((float)i + 1, 0.0f, (float)j);
-
-				for (u32 k = 0; k < 4; ++k)
-				{
-					vs[k] += t;
-				}
-
-				g_debugDraw->DrawPolygon(vs, 4, color);
-			}
-		}
-	}
-
-	if (g_settings.testID != g_settings.lastTestID)
-	{
-		delete g_test;
-		g_settings.lastTestID = g_settings.testID;
-		g_test = g_tests[g_settings.testID].create();
-		g_settings.pause = true;
-	}
-
-	g_test->Step();
-	g_debugDraw->Submit();
-}
-
 static void Run()
 {
-	glFrontFace(GL_CCW);
-	glCullFace(GL_BACK);
-	glEnable(GL_CULL_FACE);
-	glEnable(GL_DEPTH_TEST);
-	glEnable(GL_BLEND);
-	glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+	int w, h;
+	glfwGetWindowSize(g_window, &w, &h);
+	g_controller->Event_SetWindowSize(u32(w), u32(h));
 
-	glClearColor(0.3f, 0.3f, 0.3f, 1.0f);
-	glClearDepth(1.0f);
-
-	double t1 = glfwGetTime();
 	double frameTime = 0.0;
 
 	while (glfwWindowShouldClose(g_window) == 0)
 	{
-		int width, height;
-		glfwGetWindowSize(g_window, &width, &height);
-		g_camera.m_width = float32(width);
-		g_camera.m_height = float32(height);
+		double time1 = glfwGetTime();
+		
+		g_view->Command_PreDraw();
 
-		glViewport(0, 0, width, height);
-		glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+		g_view->Command_Draw();
 
-		ImGui_GLFW_GL_NewFrame();
+		g_debugDraw->DrawString(b3Color_yellow, "%.2f (ms)", 1000.0 * frameTime);
 
-		ImGui::SetNextWindowPos(ImVec2(0, 0));
-		ImGui::SetNextWindowSize(ImVec2((float)g_camera.m_width, (float)g_camera.m_height));
-		ImGui::Begin("Overlay", NULL, ImVec2(0, 0), 0.0f, ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoInputs | ImGuiWindowFlags_AlwaysAutoResize | ImGuiWindowFlags_NoScrollbar);
-		ImGui::SetCursorPos(ImVec2(5, (float)g_camera.m_height - 20));
-		ImGui::Text("%.1f ms", 1000.0 * frameTime);
-		ImGui::End();
+		g_model->Command_Step();
 
-		Interface();
-		Step();
+		g_view->Command_PostDraw();
 
-		double t = glfwGetTime();
-		frameTime = t - t1;
-		t1 = t;
-
-		ImGui::Render();
-		ImGui_GLFW_GL_RenderDrawData(ImGui::GetDrawData());
+		double time2 = glfwGetTime();
+		
+		double fraction = 0.9;
+		frameTime = fraction * frameTime + (1.0 - fraction) * (time2 - time1);
 
 		glfwSwapBuffers(g_window);
-
 		glfwPollEvents();
 	}
 }
@@ -542,7 +130,8 @@ int main(int argc, char** args)
 {
 #if defined(_WIN32)
 	// Report memory leaks
-	_CrtSetDbgFlag(_CRTDBG_LEAK_CHECK_DF | _CrtSetDbgFlag(_CRTDBG_REPORT_FLAG));
+	_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF | _CrtSetDbgFlag(_CRTDBG_REPORT_FLAG));
+	//_CrtSetBreakAlloc(x);
 #endif
 
 	if (glfwInit() == 0)
@@ -556,29 +145,23 @@ int main(int argc, char** args)
 	char title[256];
 	sprintf(title, "Bounce Testbed Version %d.%d.%d", b3_version.major, b3_version.minor, b3_version.revision);
 
-#if defined(__APPLE__)
-	glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 4);
-	glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 0);
-	glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
-	glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
-#endif
-
 	g_window = glfwCreateWindow(1024, 768, title, NULL, NULL);
 	if (g_window == NULL)
 	{
-		fprintf(stderr, "Failed to open GLFW window\n");
+		fprintf(stderr, "Failed to create GLFW window\n");
 		glfwTerminate();
 		return -1;
 	}
-
-	glfwMakeContextCurrent(g_window);
-	glfwSetCursorPosCallback(g_window, MouseMove);
-	glfwSetScrollCallback(g_window, MouseWheel);
+	
+	glfwSetWindowSizeCallback(g_window, WindowSize);
+	glfwSetCursorPosCallback(g_window, CursorMove);
+	glfwSetScrollCallback(g_window, WheelScroll);
 	glfwSetMouseButtonCallback(g_window, MouseButton);
 	glfwSetKeyCallback(g_window, KeyButton);
-	glfwSetCharCallback(g_window, Char);
 	glfwSwapInterval(1);
 
+	glfwMakeContextCurrent(g_window);
+
 	if (gladLoadGL() == 0)
 	{
 		fprintf(stderr, "Failed to load OpenGL extensions\n");
@@ -589,48 +172,27 @@ int main(int argc, char** args)
 
 	printf("OpenGL %s, GLSL %s\n", glGetString(GL_VERSION), glGetString(GL_SHADING_LANGUAGE_VERSION));
 
-	g_leftDown = false;
-	g_rightDown = false;
-	g_shiftDown = false;
-	g_ps0.SetZero();
-
-	// Create UI
-	CreateInterface();
-
-	// Create profiler
-	g_profiler = new Profiler();
-
-	// Create renderer
-	g_debugDraw = new DebugDraw();
-
-	// Run the testbed
-	g_testCount = 0;
-	while (g_tests[g_testCount].create != NULL)
-	{
-		++g_testCount;
-	}
-	g_test = NULL;
+	// 
+	g_model = new Model();
+	g_view = new View(g_window, g_model);
+	g_controller = new Controller(g_model, g_view);
 
+	// Run
 	Run();
 
-	// Destroy the last test
-	if (g_test)
-	{
-		delete g_test;
-		g_test = NULL;
-	}
+	//
+	delete g_controller;
+	g_controller = nullptr;
 
-	// Destroy renderer
-	delete g_debugDraw;
+	delete g_view;
+	g_view = nullptr;
 
-	// Destroy profiler
-	delete g_profiler;
+	delete g_model;
+	g_model = nullptr;
 
-	// Destroy UI
-	DestroyInterface();
-
-	// Destroy g_window
+	// 
 	glfwTerminate();
+	g_window = nullptr;
 
 	return 0;
 }
\ No newline at end of file
diff --git a/examples/testbed/framework/model.cpp b/examples/testbed/framework/model.cpp
new file mode 100644
index 0000000..afdb52c
--- /dev/null
+++ b/examples/testbed/framework/model.cpp
@@ -0,0 +1,130 @@
+#include <testbed/framework/model.h>
+
+Model::Model()
+{
+	g_debugDraw = &m_debugDraw;
+	g_camera = &m_camera;
+	g_overlayName = "overlay";
+	g_profiler = &m_profiler;
+	g_profilerListener = &m_profilerListener;
+	g_settings = &m_settings;
+
+	m_test = nullptr;
+
+	glFrontFace(GL_CCW);
+	glCullFace(GL_BACK);
+	glEnable(GL_CULL_FACE);
+	glEnable(GL_DEPTH_TEST);
+	glEnable(GL_BLEND);
+	glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+	glClearColor(0.3f, 0.3f, 0.3f, 1.0f);
+	glClearDepth(1.0f);
+
+	m_camera.m_q = b3QuatRotationX(-0.125f * B3_PI);
+	m_camera.m_center.SetZero();
+	m_camera.m_zoom = 20.0f;
+}
+
+Model::~Model()
+{
+	g_debugDraw = nullptr;
+	g_camera = nullptr;
+	g_overlayName = nullptr;
+	g_profiler = nullptr;
+	g_profilerListener = nullptr;
+	g_settings = nullptr;
+
+	delete m_test;
+}
+
+void Model::Command_Step()
+{
+	if (m_settings.testID != m_settings.lastTestID)
+	{
+		delete m_test;
+		m_settings.lastTestID = m_settings.testID;
+		m_test = g_tests[m_settings.testID].create();
+		m_settings.pause = true;
+	}
+	
+	glViewport(0, 0, GLsizei(m_camera.m_width), GLsizei(m_camera.m_height));
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+	if (m_settings.pause)
+	{
+		m_debugDraw.DrawString(b3Color_white, "*PAUSED*");
+	}
+	else
+	{
+		m_debugDraw.DrawString(b3Color_white, "*PLAYING*");
+	}
+
+	if (m_settings.drawGrid)
+	{
+		b3Color color(0.2f, 0.2f, 0.2f, 1.0f);
+
+		b3Vec3 pn(0.0f, 1.0f, 0.0f);
+		b3Vec3 p(0.0f, 0.0f, 0.0f);
+		m_debugDraw.DrawCircle(pn, p, 1.0f, color);
+
+		int n = 20;
+
+		b3Vec3 t;
+		t.x = -0.5f * float32(n);
+		t.y = 0.0f;
+		t.z = -0.5f * float32(n);
+
+		for (int i = 0; i < n; i += 1)
+		{
+			for (int j = 0; j < n; j += 1)
+			{
+				b3Vec3 vs[4];
+				vs[0] = b3Vec3((float32)i, 0.0f, (float32)j);
+				vs[1] = b3Vec3((float32)i, 0.0f, (float32)j + 1);
+				vs[2] = b3Vec3((float32)i + 1, 0.0f, (float32)j + 1);
+				vs[3] = b3Vec3((float32)i + 1, 0.0f, (float32)j);
+
+				vs[0] += t;
+				vs[1] += t;
+				vs[2] += t;
+				vs[3] += t;
+
+				m_debugDraw.DrawPolygon(vs, 4, color);
+			}
+		}
+	}
+
+	//
+	m_settings.inv_hertz = m_settings.hertz != 0.0f ? 1.0f / m_settings.hertz : 0.0f;
+
+	if (m_settings.pause)
+	{
+		if (m_settings.singleStep)
+		{
+			m_settings.singleStep = false;
+		}
+		else
+		{
+			m_settings.inv_hertz = 0.0f;
+		}
+	}
+
+	m_profiler.Begin();
+
+	m_test->Step();
+
+	m_profiler.End(g_profilerListener);
+
+	if (m_settings.drawProfile)
+	{
+		const b3Array<ProfilerRecord>& records = m_profilerListener.m_recorderProfiler.GetRecords();
+		for (u32 i = 0; i < records.Count(); ++i)
+		{
+			const ProfilerRecord& r = records[i];
+			m_debugDraw.DrawString(b3Color_white, "%s %.4f (%.4f) [ms]", r.name, r.elapsed, r.maxElapsed);
+		}
+	}
+
+	m_debugDraw.Submit();
+}
\ No newline at end of file
diff --git a/examples/testbed/framework/model.h b/examples/testbed/framework/model.h
new file mode 100644
index 0000000..3a61609
--- /dev/null
+++ b/examples/testbed/framework/model.h
@@ -0,0 +1,225 @@
+/*
+* 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 MODEL_H
+#define MODEL_H
+
+#include <testbed/framework/debug_draw.h>
+#include <testbed/framework/testbed_listener.h>
+#include <testbed/tests/test.h>
+
+class Model
+{
+public:
+	Model();
+
+	~Model();
+
+	void Action_SelectTest(int selection);
+	void Action_RestartTest();
+	void Action_PreviousTest();
+	void Action_NextTest();
+	void Action_DumpTest();
+	void Action_PlayPause();
+	void Action_SingleStep();
+	void Action_LeftCamera();
+	void Action_RightCamera();
+	void Action_BottomCamera();
+	void Action_TopCamera();
+	void Action_BackCamera();
+	void Action_FrontCamera();
+
+	void Command_Step();
+	void Command_Press_Key(int button);
+	void Command_Release_Key(int button);
+	void Command_Press_Mouse_Left(const b3Vec2& ps);
+	void Command_Release_Mouse_Left(const b3Vec2& ps);
+	void Command_Move_Cursor(const b3Vec2& ps);
+	void Command_ResizeCamera(float32 w, float32 h);
+	void Command_RotateCameraX(float32 angle);
+	void Command_RotateCameraY(float32 angle);
+	void Command_TranslateCameraX(float32 d);
+	void Command_TranslateCameraY(float32 d);
+	void Command_ZoomCamera(float32 d);
+private:
+	friend class View;
+	friend class Controller;
+
+	DebugDraw m_debugDraw;
+	Camera m_camera;
+	Profiler m_profiler;
+	TestbedListener m_profilerListener;
+
+	Settings m_settings;
+	Test* m_test;
+};
+
+inline void Model::Action_SelectTest(int selection)
+{
+	m_settings.testID = selection;
+	m_settings.lastTestID = -1;
+}
+
+inline void Model::Action_RestartTest()
+{
+	m_settings.lastTestID = -1;
+}
+
+inline void Model::Action_PreviousTest()
+{
+	m_settings.testID = b3Clamp(m_settings.testID - 1, 0, int(g_testCount) - 1);
+	m_settings.lastTestID = -1;
+}
+
+inline void Model::Action_NextTest()
+{
+	m_settings.testID = b3Clamp(m_settings.testID + 1, 0, int(g_testCount) - 1);
+	m_settings.lastTestID = -1;
+}
+
+inline void Model::Action_DumpTest()
+{
+	m_test->Dump();
+}
+
+inline void Model::Action_PlayPause()
+{
+	m_settings.pause = !m_settings.pause;
+}
+
+inline void Model::Action_SingleStep()
+{
+	m_settings.pause = true;
+	m_settings.singleStep = true;
+}
+
+inline void Model::Action_LeftCamera()
+{
+	m_camera.m_q.Set(b3Vec3(0.0f, 1.0f, 0.0f), 0.5f * B3_PI);
+	m_camera.m_center.SetZero();
+	m_camera.m_zoom = 20.0f;
+}
+
+inline void Model::Action_RightCamera()
+{
+	m_camera.m_q.Set(b3Vec3(0.0f, 1.0f, 0.0f), -0.5f * B3_PI);
+	m_camera.m_center.SetZero();
+	m_camera.m_zoom = 20.0f;
+}
+
+inline void Model::Action_BottomCamera()
+{
+	m_camera.m_q.Set(b3Vec3(1.0f, 0.0f, 0.0f), 0.5f * B3_PI);
+	m_camera.m_center.SetZero();
+	m_camera.m_zoom = 20.0f;
+}
+
+inline void Model::Action_TopCamera()
+{
+	m_camera.m_q.Set(b3Vec3(1.0f, 0.0f, 0.0f), -0.5f * B3_PI);
+	m_camera.m_center.SetZero();
+	m_camera.m_zoom = 20.0f;
+}
+
+inline void Model::Action_BackCamera()
+{
+	m_camera.m_q.Set(b3Vec3(0.0f, 1.0f, 0.0f), -B3_PI);
+	m_camera.m_center.SetZero();
+	m_camera.m_zoom = 20.0f;
+}
+
+inline void Model::Action_FrontCamera()
+{
+	m_camera.m_q.SetIdentity();
+	m_camera.m_center.SetZero();
+	m_camera.m_zoom = 20.0f;
+}
+
+inline void Model::Command_Press_Key(int button)
+{
+	m_test->KeyDown(button);
+}
+
+inline void Model::Command_Release_Key(int button)
+{
+	m_test->KeyUp(button);
+}
+
+inline void Model::Command_Press_Mouse_Left(const b3Vec2& ps)
+{
+	Ray3 pw = m_camera.ConvertScreenToWorld(ps);
+
+	m_test->MouseLeftDown(pw);
+}
+
+inline void Model::Command_Release_Mouse_Left(const b3Vec2& ps)
+{
+	Ray3 pw = m_camera.ConvertScreenToWorld(ps);
+
+	m_test->MouseLeftUp(pw);
+}
+
+inline void Model::Command_Move_Cursor(const b3Vec2& ps)
+{
+	Ray3 pw = m_camera.ConvertScreenToWorld(ps);
+
+	m_test->MouseMove(pw);
+}
+
+inline void Model::Command_ResizeCamera(float32 w, float32 h)
+{
+	m_camera.m_width = w;
+	m_camera.m_height = h;
+}
+
+inline void Model::Command_RotateCameraX(float32 angle)
+{
+	b3Quat d = b3QuatRotationX(angle);
+
+	m_camera.m_q = m_camera.m_q * d;
+	m_camera.m_q.Normalize();
+}
+
+inline void Model::Command_RotateCameraY(float32 angle)
+{
+	b3Quat d = b3QuatRotationY(angle);
+
+	m_camera.m_q = d * m_camera.m_q;
+	m_camera.m_q.Normalize();
+}
+
+inline void Model::Command_TranslateCameraX(float32 d)
+{
+	b3Transform transform = m_camera.BuildWorldTransform();
+
+	m_camera.m_center += d * transform.rotation.x;
+}
+
+inline void Model::Command_TranslateCameraY(float32 d)
+{
+	b3Transform transform = m_camera.BuildWorldTransform();
+
+	m_camera.m_center += d * transform.rotation.y;
+}
+
+inline void Model::Command_ZoomCamera(float32 d)
+{
+	m_camera.m_zoom += d;
+}
+
+#endif
\ No newline at end of file
diff --git a/examples/testbed/framework/profiler.cpp b/examples/testbed/framework/profiler.cpp
index 1c4aec9..bc72572 100644
--- a/examples/testbed/framework/profiler.cpp
+++ b/examples/testbed/framework/profiler.cpp
@@ -18,6 +18,9 @@
 
 #include <testbed/framework/profiler.h>
 
+Profiler* g_profiler = nullptr;
+ProfilerListener* g_profilerListener = nullptr;
+
 Profiler::Profiler()
 {
 	m_top = nullptr;
diff --git a/examples/testbed/framework/profiler.h b/examples/testbed/framework/profiler.h
index 441863c..79dd23a 100644
--- a/examples/testbed/framework/profiler.h
+++ b/examples/testbed/framework/profiler.h
@@ -71,6 +71,8 @@ private:
 	ProfilerEvent* m_top;
 };
 
+extern Profiler* g_profiler;
+
 // Any implementation of this interface passed to Profiler::End will listen to profile events.
 class ProfilerListener
 {
@@ -110,4 +112,6 @@ public:
 	}
 };
 
+extern ProfilerListener* g_profilerListener;
+
 #endif
\ No newline at end of file
diff --git a/examples/testbed/framework/test.cpp b/examples/testbed/framework/test.cpp
index 4bac0c5..75b8353 100644
--- a/examples/testbed/framework/test.cpp
+++ b/examples/testbed/framework/test.cpp
@@ -22,14 +22,18 @@ extern u32 b3_allocCalls, b3_maxAllocCalls;
 extern u32 b3_gjkCalls, b3_gjkIters, b3_gjkMaxIters;
 extern bool b3_convexCache;
 extern u32 b3_convexCalls, b3_convexCacheHits;
-extern b3Draw* b3_debugDraw;
 
-extern Settings g_settings;
-extern DebugDraw* g_debugDraw;
-extern Camera g_camera;
-extern Profiler* g_profiler;
-extern ProfilerListener* g_profilerListener;
-extern RecorderProfiler g_recorderProfiler;
+bool b3PushProfileScope(const char* name)
+{
+	return g_profiler->PushEvent(name);
+}
+
+void b3PopProfileScope()
+{
+	g_profiler->PopEvent();
+}
+
+Settings* g_settings = nullptr;
 
 Test::Test()
 {
@@ -37,34 +41,17 @@ Test::Test()
 	b3_gjkCalls = 0;
 	b3_gjkIters = 0;
 	b3_gjkMaxIters = 0;
-	b3_convexCache = g_settings.convexCache;
+	b3_convexCache = g_settings->convexCache;
 	b3_convexCalls = 0;
 	b3_convexCacheHits = 0;
-	b3_debugDraw = g_debugDraw;
-
-	b3Quat q_y = b3QuatRotationY(0.15f * B3_PI);
-	b3Quat q_x = b3QuatRotationX(-0.15f * B3_PI);
-
-	g_camera.m_q = q_y * q_x;
-	g_camera.m_zoom = 50.0f;
-	g_camera.m_center.SetZero();
+	b3Draw_draw = g_debugDraw;
 
 	m_world.SetContactListener(this);
 
 	m_rayHit.shape = NULL;
 	m_mouseJoint = NULL;
 
-	{
-		b3Transform m;
-		m.position.SetZero();
-		m.rotation = b3Diagonal(50.0f, 1.0f, 50.0f);
-		m_groundHull.SetTransform(m);
-	}
-
-	{
-		m_boxHull.SetIdentity();
-	}
-
+	m_groundHull.Set(50.0f, 1.0f, 50.0f);
 	m_groundMesh.BuildTree();
 }
 
@@ -77,71 +64,42 @@ Test::~Test()
 	b3_convexCache = false;
 	b3_convexCalls = 0;
 	b3_convexCacheHits = 0;
-	b3_debugDraw = nullptr;
-}
-
-void Test::BeginContact(b3Contact* contact)
-{
-}
-
-void Test::EndContact(b3Contact* contact)
-{
-
-}
-
-void Test::PreSolve(b3Contact* contact)
-{
-
+	b3Draw_draw = nullptr;
 }
 
 void Test::Step()
 {
-	float32 dt = g_settings.hertz > 0.0f ? 1.0f / g_settings.hertz : 0.0f;
-
-	if (g_settings.pause)
-	{
-		if (g_settings.singleStep)
-		{
-			g_settings.singleStep = false;
-		}
-		else
-		{
-			dt = 0.0f;
-		}
-	}
-
 	b3_allocCalls = 0;
 	b3_gjkCalls = 0;
 	b3_gjkIters = 0;
 	b3_gjkMaxIters = 0;
-	b3_convexCache = g_settings.convexCache;
+	b3_convexCache = g_settings->convexCache;
 	b3_convexCalls = 0;
 	b3_convexCacheHits = 0;
 
+	float32 dt = g_settings->inv_hertz;
+
 	// Step
-	g_profiler->Begin();
+	m_world.SetSleeping(g_settings->sleep);
+	m_world.SetWarmStart(g_settings->warmStart);
+	m_world.Step(dt, g_settings->velocityIterations, g_settings->positionIterations);
 
-	m_world.SetSleeping(g_settings.sleep);
-	m_world.SetWarmStart(g_settings.warmStart);
-	m_world.Step(dt, g_settings.velocityIterations, g_settings.positionIterations);
-
-	g_profiler->End(g_profilerListener);
-	
 	g_debugDraw->Submit();
 
 	// Draw World
 	u32 drawFlags = 0;
-	drawFlags += g_settings.drawBounds * b3Draw::e_aabbsFlag;
-	drawFlags += g_settings.drawVerticesEdges * b3Draw::e_shapesFlag;
-	drawFlags += g_settings.drawCenterOfMasses * b3Draw::e_centerOfMassesFlag;
-	drawFlags += g_settings.drawJoints * b3Draw::e_jointsFlag;
-	drawFlags += g_settings.drawContactPoints * b3Draw::e_contactPointsFlag;
-	drawFlags += g_settings.drawContactNormals * b3Draw::e_contactNormalsFlag;
-	drawFlags += g_settings.drawContactTangents * b3Draw::e_contactTangentsFlag;
-	drawFlags += g_settings.drawContactPolygons * b3Draw::e_contactPolygonsFlag;
+	drawFlags += g_settings->drawBounds * b3Draw::e_aabbsFlag;
+	drawFlags += g_settings->drawVerticesEdges * b3Draw::e_shapesFlag;
+	drawFlags += g_settings->drawCenterOfMasses * b3Draw::e_centerOfMassesFlag;
+	drawFlags += g_settings->drawJoints * b3Draw::e_jointsFlag;
+	drawFlags += g_settings->drawContactPoints * b3Draw::e_contactPointsFlag;
+	drawFlags += g_settings->drawContactNormals * b3Draw::e_contactNormalsFlag;
+	drawFlags += g_settings->drawContactTangents * b3Draw::e_contactTangentsFlag;
+	drawFlags += g_settings->drawContactPolygons * b3Draw::e_contactPolygonsFlag;
 
 	g_debugDraw->SetFlags(drawFlags);
-	m_world.DebugDraw();
+	
+	m_world.Draw();
 	
 	if (m_mouseJoint)
 	{
@@ -156,20 +114,16 @@ void Test::Step()
 
 	g_debugDraw->Submit();
 	
-	if (g_settings.drawFaces)
+	if (g_settings->drawFaces)
 	{
 		g_debugDraw->Draw(m_world);
 	}
 
-	// Draw Statistics
-	extern const char* g_logName;
-	ImGui::Begin(g_logName, NULL, ImVec2(0, 0), 0.0f, ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoInputs | ImGuiWindowFlags_AlwaysAutoResize | ImGuiWindowFlags_NoScrollbar);
-
-	if (g_settings.drawStats)
+	if (g_settings->drawStats)
 	{
-		ImGui::Text("Bodies %d", m_world.GetBodyList().m_count);
-		ImGui::Text("Joints %d", m_world.GetJointList().m_count);
-		ImGui::Text("Contacts %d", m_world.GetContactList().m_count);
+		g_debugDraw->DrawString(b3Color_white, "Bodies %d", m_world.GetBodyList().m_count);
+		g_debugDraw->DrawString(b3Color_white, "Joints %d", m_world.GetJointList().m_count);
+		g_debugDraw->DrawString(b3Color_white, "Contacts %d", m_world.GetContactList().m_count);
 
 		float32 avgGjkIters = 0.0f;
 		if (b3_gjkCalls > 0)
@@ -177,8 +131,8 @@ void Test::Step()
 			avgGjkIters = float32(b3_gjkIters) / float32(b3_gjkCalls);
 		}
 
-		ImGui::Text("GJK Calls %d", b3_gjkCalls);
-		ImGui::Text("GJK Iterations %d (%d) (%f)", b3_gjkIters, b3_gjkMaxIters, avgGjkIters);
+		g_debugDraw->DrawString(b3Color_white, "GJK Calls %d", b3_gjkCalls);
+		g_debugDraw->DrawString(b3Color_white, "GJK Iterations %d (%d) (%f)", b3_gjkIters, b3_gjkMaxIters, avgGjkIters);
 
 		float32 convexCacheHitRatio = 0.0f;
 		if (b3_convexCalls > 0)
@@ -186,23 +140,10 @@ void Test::Step()
 			convexCacheHitRatio = float32(b3_convexCacheHits) / float32(b3_convexCalls);
 		}
 
-		ImGui::Text("Convex Calls %d", b3_convexCalls);
-		ImGui::Text("Convex Cache Hits %d (%f)", b3_convexCacheHits, convexCacheHitRatio);
-		ImGui::Text("Frame Allocations %d (%d)", b3_allocCalls, b3_maxAllocCalls);
+		g_debugDraw->DrawString(b3Color_white, "Convex Calls %d", b3_convexCalls);
+		g_debugDraw->DrawString(b3Color_white, "Convex Cache Hits %d (%f)", b3_convexCacheHits, convexCacheHitRatio);
+		g_debugDraw->DrawString(b3Color_white, "Frame Allocations %d (%d)", b3_allocCalls, b3_maxAllocCalls);
 	}
-
-	if (g_settings.drawProfile)
-	{
-		const b3Array<ProfilerRecord>& records = g_recorderProfiler.GetRecords();
-		for (u32 i = 0; i < records.Count(); ++i)
-		{
-			const ProfilerRecord& r = records[i];
-			
-			ImGui::Text("%s %.4f (%.4f) [ms]", r.name, r.elapsed, r.maxElapsed);
-		}
-	}
-
-	ImGui::End();
 }
 
 void Test::MouseMove(const Ray3& pw)
diff --git a/examples/testbed/framework/test_entries.cpp b/examples/testbed/framework/test_entries.cpp
index 47679f1..804d5e5 100644
--- a/examples/testbed/framework/test_entries.cpp
+++ b/examples/testbed/framework/test_entries.cpp
@@ -117,4 +117,18 @@ TestEntry g_tests[] =
 	{ "Mass-Spring System", &MassSpring::Create },
 	{ "Shift Center", &ShiftCenter::Create },
 	{ NULL, NULL }
-};
\ No newline at end of file
+};
+
+//
+static u32 TestCount()
+{
+	u32 count = 0;
+	while (g_tests[count].create != NULL)
+	{
+		++count;
+	}
+	return count;
+}
+
+// Count the tests
+u32 g_testCount = TestCount();
\ No newline at end of file
diff --git a/examples/testbed/framework/testbed_listener.h b/examples/testbed/framework/testbed_listener.h
index dd7f60f..7588f66 100644
--- a/examples/testbed/framework/testbed_listener.h
+++ b/examples/testbed/framework/testbed_listener.h
@@ -30,14 +30,13 @@
 	#include <testbed\framework\json_profiler.h>
 #endif
 
-extern RecorderProfiler g_recorderProfiler;
 
 class TestbedListener : public ProfilerListener
 {
 public:
 	void BeginEvents() override
 	{
-		g_recorderProfiler.BeginEvents();
+		m_recorderProfiler.BeginEvents();
 
 #if (PROFILE_JSON == 1)
 		m_jsonListener.BeginEvents();
@@ -47,7 +46,7 @@ public:
 
 	void EndEvents() override
 	{
-		g_recorderProfiler.EndEvents();
+		m_recorderProfiler.EndEvents();
 
 #if (PROFILE_JSON == 1)
 		m_jsonListener.EndEvents();
@@ -73,9 +72,11 @@ public:
 
 	void Duration(const char* name, float64 time) override
 	{
-		g_recorderProfiler.Add(name, time);
+		m_recorderProfiler.Add(name, time);
 	}
 
+	RecorderProfiler m_recorderProfiler;
+
 #if (PROFILE_JSON == 1)
 	JsonProfiler m_jsonListener;
 #endif
diff --git a/examples/testbed/framework/view.cpp b/examples/testbed/framework/view.cpp
new file mode 100644
index 0000000..cf32c5c
--- /dev/null
+++ b/examples/testbed/framework/view.cpp
@@ -0,0 +1,261 @@
+#include <testbed/framework/view.h>
+#include <testbed/framework/model.h>
+
+#if defined (U_OPENGL_2)
+	#include <imgui/imgui_impl_glfw_gl2.h>
+#elif defined (U_OPENGL_4)
+	#include <imgui/imgui_impl_glfw_gl3.h>
+#else
+
+#endif
+
+static bool GetTestName(void* userData, int idx, const char** name)
+{
+	assert(u32(idx) < g_testCount);
+	*name = g_tests[idx].name;
+	return true;
+}
+
+static inline bool ImGui_GLFW_GL_Init(GLFWwindow* w, bool install_callbacks)
+{
+
+#if defined(U_OPENGL_2)
+
+	return ImGui_ImplGlfwGL2_Init(w, install_callbacks);
+
+#elif defined(U_OPENGL_4)
+
+	return ImGui_ImplGlfwGL3_Init(w, install_callbacks);
+
+#else
+
+	// error
+
+#endif
+
+}
+
+static inline void ImGui_GLFW_GL_Shutdown()
+{
+
+#if defined(U_OPENGL_2)
+
+	ImGui_ImplGlfwGL2_Shutdown();
+
+#elif defined(U_OPENGL_4)
+
+	ImGui_ImplGlfwGL3_Shutdown();
+
+#else
+
+	// error
+
+#endif
+
+}
+
+static inline void ImGui_GLFW_GL_NewFrame()
+{
+
+#if defined(U_OPENGL_2)
+
+	ImGui_ImplGlfwGL2_NewFrame();
+
+#elif defined(U_OPENGL_4)
+
+	ImGui_ImplGlfwGL3_NewFrame();
+
+#else
+
+	// error
+
+#endif
+
+}
+
+static inline void ImGui_GLFW_GL_RenderDrawData(ImDrawData* draw_data)
+{
+
+#if defined(U_OPENGL_2)
+
+	ImGui_ImplGlfwGL2_RenderDrawData(draw_data);
+
+#elif defined(U_OPENGL_4)
+
+	ImGui_ImplGlfwGL3_RenderDrawData(draw_data);
+
+#else
+
+	// error
+
+#endif
+
+}
+
+View::View(GLFWwindow* window, Model* model)
+{
+	m_window = window;
+	m_model = model;
+
+	// Create UI
+	ImGui::CreateContext();
+
+	ImGuiIO& io = ImGui::GetIO();
+	io.Fonts[0].AddFontDefault();
+
+	ImGui_GLFW_GL_Init(m_window, false);
+
+	ImGui::StyleColorsLight();
+}
+
+View::~View()
+{
+	// Destroy UI
+	ImGui_GLFW_GL_Shutdown();
+
+	ImGui::DestroyContext();
+}
+
+void View::Command_PreDraw()
+{
+	ImGui_GLFW_GL_NewFrame();
+}
+
+void View::Command_Draw()
+{
+	Camera& camera = m_model->m_camera;
+	Settings& settings = m_model->m_settings;
+	
+	ImVec2 buttonSize(-1.0f, 0.0f);
+
+	ImGui::SetNextWindowPos(ImVec2(camera.m_width - 250.0f, 0.0f));
+	ImGui::SetNextWindowSize(ImVec2(250.0f, camera.m_height));
+	ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 0.0f);
+
+	ImGui::Begin("Controller", NULL, ImVec2(0.0f, 0.0f), 0.25f, ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoResize);
+
+	ImGui::PushItemWidth(-1.0f);
+	
+	ImGui::Separator();
+	
+	ImGui::Text("Test");
+
+	ImGui::Separator();
+	
+	if (ImGui::Combo("##Test", &settings.testID, GetTestName, NULL, g_testCount, g_testCount))
+	{
+		m_model->Action_SelectTest(settings.testID);
+	}
+
+	if (ImGui::Button("Restart", buttonSize))
+	{
+		m_model->Action_RestartTest();
+	}
+	
+	if (ImGui::Button("Previous", buttonSize))
+	{
+		m_model->Action_PreviousTest();
+	}
+
+	if (ImGui::Button("Next", buttonSize))
+	{
+		m_model->Action_NextTest();
+	}
+	
+	if (ImGui::Button("Dump", buttonSize))
+	{
+		m_model->Action_DumpTest();
+	}
+
+	if (ImGui::Button("Exit", buttonSize))
+	{
+		glfwSetWindowShouldClose(m_window, true);
+	}
+
+	ImGui::Separator();
+
+	ImGui::Text("Step");
+
+	ImGui::Separator();
+	
+	ImGui::Text("Hertz");
+	ImGui::SliderFloat("##Hertz", &settings.hertz, 0.0f, 240.0f, "%.1f");
+	ImGui::Text("Velocity Iterations");
+	ImGui::SliderInt("##Velocity Iterations", &settings.velocityIterations, 0, 50);
+	ImGui::Text("Position Iterations");
+	ImGui::SliderInt("#Position Iterations", &settings.positionIterations, 0, 50);
+	ImGui::Checkbox("Sleep", &settings.sleep);
+	ImGui::Checkbox("Convex Cache", &settings.convexCache);
+	ImGui::Checkbox("Warm Start", &settings.warmStart);
+
+	if (ImGui::Button("Play/Pause", buttonSize))
+	{
+		m_model->Action_PlayPause();
+	}
+	
+	if (ImGui::Button("Single Step", buttonSize))
+	{
+		m_model->Action_SingleStep();
+	}
+
+	ImGui::Separator();
+
+	ImGui::Text("View");
+	
+	ImGui::Separator();
+	
+	ImGui::Checkbox("Reference Grid", &settings.drawGrid);
+	ImGui::Checkbox("Vertices and Edges", &settings.drawVerticesEdges);
+	ImGui::Checkbox("Faces", &settings.drawFaces);
+	ImGui::Checkbox("Center of Masses", &settings.drawCenterOfMasses);
+	ImGui::Checkbox("Bounding Boxes", &settings.drawBounds);
+	ImGui::Checkbox("Joints", &settings.drawJoints);
+	ImGui::Checkbox("Contact Points", &settings.drawContactPoints);
+	ImGui::Checkbox("Contact Normals", &settings.drawContactNormals);
+	ImGui::Checkbox("Contact Tangents", &settings.drawContactTangents);
+	ImGui::Checkbox("Contact Polygons", &settings.drawContactPolygons);
+	ImGui::Checkbox("Statistics", &settings.drawStats);
+	ImGui::Checkbox("Profile", &settings.drawProfile);
+	
+	ImGui::Separator();
+
+	if (ImGui::Button("Left", buttonSize))
+	{
+		m_model->Action_LeftCamera();
+	}
+
+	if (ImGui::Button("Right", buttonSize))
+	{
+		m_model->Action_RightCamera();
+	}
+
+	if (ImGui::Button("Bottom", buttonSize))
+	{
+		m_model->Action_BottomCamera();
+	}
+
+	if (ImGui::Button("Top", buttonSize))
+	{
+		m_model->Action_TopCamera();
+	}
+
+	if (ImGui::Button("Back", buttonSize))
+	{
+		m_model->Action_BackCamera();
+	}
+
+	if (ImGui::Button("Front", buttonSize))
+	{
+		m_model->Action_FrontCamera();
+	}
+
+	ImGui::End();
+	ImGui::PopStyleVar();
+}
+
+void View::Command_PostDraw()
+{
+	ImGui::Render();
+	
+	ImGui_GLFW_GL_RenderDrawData(ImGui::GetDrawData());
+}
\ No newline at end of file
diff --git a/examples/testbed/framework/view.h b/examples/testbed/framework/view.h
new file mode 100644
index 0000000..a5042c7
--- /dev/null
+++ b/examples/testbed/framework/view.h
@@ -0,0 +1,43 @@
+/*
+* 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 VIEW_H
+#define VIEW_H
+
+struct GLFWwindow;
+class Model;
+
+class View
+{
+public:
+	View(GLFWwindow* window, Model* model);
+
+	~View();
+
+	void Command_PreDraw();
+
+	void Command_Draw();
+
+	void Command_PostDraw();
+private:
+	GLFWwindow * m_window;
+
+	Model* m_model;
+};
+
+#endif
\ No newline at end of file
diff --git a/examples/testbed/tests/body_types.h b/examples/testbed/tests/body_types.h
index 92458d9..c41efed 100644
--- a/examples/testbed/tests/body_types.h
+++ b/examples/testbed/tests/body_types.h
@@ -24,8 +24,6 @@ class BodyTypes : public Test
 public:
 	BodyTypes()
 	{
-		g_camera.m_zoom = 50.0f;
-
 		{
 			b3BodyDef bd;
 			b3Body* ground = m_world.CreateBody(bd);
@@ -66,12 +64,11 @@ public:
 	{
 		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);
+		g_debugDraw->DrawString(b3Color_white, "S - Static");
+		g_debugDraw->DrawString(b3Color_white, "D - Dynamic");
+		g_debugDraw->DrawString(b3Color_white, "K - Kinematic");
+		g_debugDraw->DrawString(b3Color_white, "Space - Throw Bomb");
+		g_debugDraw->DrawString(b3Color_white, "Arrows - Apply Force/Velocity/Position");
 	}
 
 	void KeyDown(int button) 
diff --git a/examples/testbed/tests/box_stack.h b/examples/testbed/tests/box_stack.h
index af150b4..6cf636a 100644
--- a/examples/testbed/tests/box_stack.h
+++ b/examples/testbed/tests/box_stack.h
@@ -31,9 +31,6 @@ public:
 
 	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;
@@ -52,14 +49,6 @@ public:
 
 		b3Vec3 boxScale(1.0f, 1.0f, 1.0f);
 
-		static b3BoxHull boxHull;
-
-		b3Transform m;
-		m.rotation = b3Diagonal(boxScale.x, boxScale.y, boxScale.z);
-		m.position.SetZero();
-
-		boxHull.SetTransform(m);
-
 		b3Vec3 stackOrigin(0.0f, 4.05f, 0.0f);
 
 		for (u32 i = 0; i < e_rowCount; ++i)
@@ -81,7 +70,7 @@ public:
 					b3Body* body = m_world.CreateBody(bdef);
 
 					b3HullShape hs;
-					hs.m_hull = &boxHull;
+					hs.m_hull = &b3BoxHull_identity;
 
 					b3ShapeDef sdef;
 					sdef.density = 0.1f;
diff --git a/examples/testbed/tests/cloth_test.h b/examples/testbed/tests/cloth_test.h
index 9cd3540..32d29a5 100644
--- a/examples/testbed/tests/cloth_test.h
+++ b/examples/testbed/tests/cloth_test.h
@@ -19,17 +19,11 @@
 #ifndef CLOTH_H
 #define CLOTH_H
 
-extern DebugDraw* g_debugDraw;
-extern Camera g_camera;
-extern Settings g_settings;
-
 class Cloth : public Test
 {
 public:
 	Cloth()
 	{
-		g_camera.m_zoom = 25.0f;
-
 		b3ClothDef def;
 		def.mesh = &m_clothMesh;
 		def.density = 0.2f;
@@ -57,22 +51,8 @@ public:
 
 	void Step()
 	{
-		float32 dt = g_settings.hertz > 0.0f ? 1.0f / g_settings.hertz : 0.0f;
-		
-		if (g_settings.pause)
-		{
-			if (g_settings.singleStep)
-				{
-				g_settings.singleStep = false;
-			}
-			else
-			{
-				dt = 0.0f;
-			}
-		}
-
-		m_cloth.Step(dt, g_settings.positionIterations);
-		m_cloth.Draw(g_debugDraw);
+		m_cloth.Step(g_settings->inv_hertz, g_settings->positionIterations);
+		m_cloth.Draw();
 	}
 
 	static Test* Create()
diff --git a/examples/testbed/tests/cluster_test.h b/examples/testbed/tests/cluster_test.h
index 3c05c59..2dc305e 100644
--- a/examples/testbed/tests/cluster_test.h
+++ b/examples/testbed/tests/cluster_test.h
@@ -21,16 +21,11 @@
 
 #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
 		for (u32 i = 0; i < 90; ++i)
 		{
diff --git a/examples/testbed/tests/collide_test.h b/examples/testbed/tests/collide_test.h
index ea025b2..78e5cd8 100644
--- a/examples/testbed/tests/collide_test.h
+++ b/examples/testbed/tests/collide_test.h
@@ -19,16 +19,12 @@
 #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()
@@ -48,19 +44,19 @@ public:
 			wm.Initialize(&manifold, m_shapeA->m_radius, m_xfA, m_shapeB->m_radius, m_xfB);
 
 			b3Vec3 pw = wm.points[i].point;
-			b3Vec2 ps = g_camera.ConvertWorldToScreen(pw);
+			b3Vec2 ps = g_camera->ConvertWorldToScreen(pw);
 			
 			g_debugDraw->DrawPoint(pw, 4.0f, b3Color(0.0f, 1.0f, 0.0f));
 			g_debugDraw->DrawSegment(pw, pw + wm.points[i].normal, b3Color(1.0f, 1.0f, 1.0f));
 		}
 
-		if (g_settings.drawFaces)
+		if (g_settings->drawFaces)
 		{
 			g_debugDraw->DrawShape(m_shapeA, b3Color(1.0f, 1.0f, 1.0f, 0.5f), m_xfA);
 			g_debugDraw->DrawShape(m_shapeB, b3Color(1.0f, 1.0f, 1.0f, 0.5f), m_xfB);
 		}
 		
-		if (g_settings.drawVerticesEdges)
+		if (g_settings->drawVerticesEdges)
 		{
 			m_world.DrawShape(m_xfA, m_shapeA);
 			m_world.DrawShape(m_xfB, m_shapeB);
diff --git a/examples/testbed/tests/cone_test.h b/examples/testbed/tests/cone_test.h
index f262fc2..dfa6691 100644
--- a/examples/testbed/tests/cone_test.h
+++ b/examples/testbed/tests/cone_test.h
@@ -24,11 +24,6 @@ class ConeTest : public Test
 public:
 	ConeTest()
 	{
-		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), -0.2f * B3_PI);
-		g_camera.m_center.Set(0.0f, 0.0f, 0.0f);
-
 		b3Body* ref;
 		b3Body* head;
 		
diff --git a/examples/testbed/tests/distance_test.h b/examples/testbed/tests/distance_test.h
index 9a3a906..d5c4464 100644
--- a/examples/testbed/tests/distance_test.h
+++ b/examples/testbed/tests/distance_test.h
@@ -19,17 +19,11 @@
 #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();
@@ -40,7 +34,7 @@ public:
 		m_xfB.SetIdentity();
 		m_xfB.position.Set(5.0f, 0.0f, 0.0f);
 		m_xfB.rotation.SetIdentity();
-		m_shapeB.m_hull = &m_boxHull;
+		m_shapeB.m_hull = &b3BoxHull_identity;
 
 		m_proxyA.Set(&m_shapeA, 0);
 		m_proxyB.Set(&m_shapeB, 0);
diff --git a/examples/testbed/tests/gyro_test.h b/examples/testbed/tests/gyro_test.h
index 38c7f9c..2dee7a1 100644
--- a/examples/testbed/tests/gyro_test.h
+++ b/examples/testbed/tests/gyro_test.h
@@ -21,10 +21,6 @@
 
 #include <testbed/tests/quickhull_test.h>
 
-extern DebugDraw* g_debugDraw;
-extern Camera g_camera;
-extern Settings g_settings;
-
 class GyroTest : public Test
 {
 public:
diff --git a/examples/testbed/tests/hinge_chain.h b/examples/testbed/tests/hinge_chain.h
index 376b7e3..3cc2e6b 100644
--- a/examples/testbed/tests/hinge_chain.h
+++ b/examples/testbed/tests/hinge_chain.h
@@ -24,11 +24,6 @@ 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();
-		
 		static b3BoxHull doorHull;
 		{
 			b3Transform xf;
diff --git a/examples/testbed/tests/initial_overlap.h b/examples/testbed/tests/initial_overlap.h
index c54576b..b3e7156 100644
--- a/examples/testbed/tests/initial_overlap.h
+++ b/examples/testbed/tests/initial_overlap.h
@@ -24,9 +24,6 @@ class InitialOverlap : public Test
 public:
 	InitialOverlap()
 	{
-		g_camera.m_center.Set(2.0f, -2.0f, 0.0f);
-		g_camera.m_zoom = 10.0f;
-
 		{
 			b3BodyDef bd;
 			b3Body* body = m_world.CreateBody(bd);
diff --git a/examples/testbed/tests/jenga.h b/examples/testbed/tests/jenga.h
index 377cad3..8695def 100644
--- a/examples/testbed/tests/jenga.h
+++ b/examples/testbed/tests/jenga.h
@@ -30,9 +30,6 @@ public:
 
 	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);
diff --git a/examples/testbed/tests/mass_spring.h b/examples/testbed/tests/mass_spring.h
index 3d1204e..8c23b92 100644
--- a/examples/testbed/tests/mass_spring.h
+++ b/examples/testbed/tests/mass_spring.h
@@ -19,17 +19,11 @@
 #ifndef MASS_SPRING_H
 #define MASS_SPRING_H
 
-extern DebugDraw* g_debugDraw;
-extern Camera g_camera;
-extern Settings g_settings;
-
 class MassSpring : public Test
 {
 public:
 	MassSpring()
 	{
-		g_camera.m_zoom = 20.0f;
-
 		m_x.Set(0.0f, 5.0f, 0.0f);
 
 		m_v.SetZero();
@@ -132,36 +126,18 @@ public:
 
 	void Step()
 	{
-		float32 h = g_settings.hertz > 0.0f ? 1.0f / g_settings.hertz : 0.0f;
-
-		if (g_settings.pause)
-		{
-			if (g_settings.singleStep)
-			{
-				g_settings.singleStep = false;
-			}
-			else
-			{
-				h = 0.0f;
-			}
-		}
+		float32 h = g_settings->inv_hertz;
 
 		Solve(h);
 
 		g_debugDraw->DrawSolidSphere(m_x, 0.25f, b3Color_white);
 		
-		b3Vec3 b3Vec3_zero;
-		b3Vec3_zero.SetZero();
 		g_debugDraw->DrawSegment(b3Vec3_zero, m_x, b3Color_white);
 
-		char text1[64];
-		sprintf(text1, "Iterations = %u", m_iterations);
-		g_debugDraw->DrawString(text1, b3Color_white);
+		g_debugDraw->DrawString(b3Color_white, "Iterations = %u", m_iterations);
 
-		char text2[64];
 		float32 E = 0.5f * b3Dot(m_v, m_v);
-		sprintf(text2, "E = %f", E);
-		g_debugDraw->DrawString(text2, b3Color_white);
+		g_debugDraw->DrawString(b3Color_white, "E = %f", E);
 	}
 
 	static Test* Create()
diff --git a/examples/testbed/tests/mesh_contact_test.h b/examples/testbed/tests/mesh_contact_test.h
index f788c6f..173d739 100644
--- a/examples/testbed/tests/mesh_contact_test.h
+++ b/examples/testbed/tests/mesh_contact_test.h
@@ -114,7 +114,7 @@ public:
 			if (key == GLFW_KEY_H)
 			{
 				b3HullShape hull;
-				hull.m_hull = &m_boxHull;
+				hull.m_hull = &b3BoxHull_identity;
 
 				b3ShapeDef sd;
 				sd.shape = &hull;
@@ -163,13 +163,11 @@ public:
 	{
 		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);
+		g_debugDraw->DrawString(b3Color_white, "S - Sphere");
+		g_debugDraw->DrawString(b3Color_white, "C - Capsule");
+		g_debugDraw->DrawString(b3Color_white, "H - Hull");
+		g_debugDraw->DrawString(b3Color_white, "G - Grid");
+		g_debugDraw->DrawString(b3Color_white, "T - Terrain");
 	}
 
 	static Test* Create()
diff --git a/examples/testbed/tests/multiple_pendulum.h b/examples/testbed/tests/multiple_pendulum.h
index 4713aea..487b73f 100644
--- a/examples/testbed/tests/multiple_pendulum.h
+++ b/examples/testbed/tests/multiple_pendulum.h
@@ -24,8 +24,6 @@ class MultiplePendulum : public Test
 public:
 	MultiplePendulum()
 	{
-		g_camera.m_zoom = 10.0f;
-
 		b3Vec3 axis(0.0f, 0.0f, 1.0f);
 
 		b3Body* bs[6];
diff --git a/examples/testbed/tests/multiple_shapes.h b/examples/testbed/tests/multiple_shapes.h
index 4d4808f..f0fa841 100644
--- a/examples/testbed/tests/multiple_shapes.h
+++ b/examples/testbed/tests/multiple_shapes.h
@@ -24,8 +24,6 @@ class MultipleShapes : public Test
 public:
 	MultipleShapes()
 	{
-		g_settings.drawCenterOfMasses = true;
-
 		{
 			b3BodyDef bd;
 			b3Body* body = m_world.CreateBody(bd);
diff --git a/examples/testbed/tests/pyramid.h b/examples/testbed/tests/pyramid.h
index 06a8336..ecb3235 100644
--- a/examples/testbed/tests/pyramid.h
+++ b/examples/testbed/tests/pyramid.h
@@ -29,8 +29,6 @@ public:
 
 	Pyramid()
 	{
-		g_camera.m_zoom = 100.0f;
-
 		{
 			b3BodyDef bd;
 			b3Body* ground = m_world.CreateBody(bd);
@@ -71,7 +69,7 @@ public:
 					b3Body* body = m_world.CreateBody(bd);
 
 					b3HullShape hs;
-					hs.m_hull = &m_boxHull;
+					hs.m_hull = &b3BoxHull_identity;
 
 					b3ShapeDef sd;
 					sd.shape = &hs;
diff --git a/examples/testbed/tests/pyramids.h b/examples/testbed/tests/pyramids.h
index 9ae0d16..60f4cff 100644
--- a/examples/testbed/tests/pyramids.h
+++ b/examples/testbed/tests/pyramids.h
@@ -30,8 +30,6 @@ public:
 
 	Pyramids()
 	{
-		g_camera.m_zoom = 100.0f;
-
 		{
 			b3BodyDef bd;
 			b3Body* ground = m_world.CreateBody(bd);
@@ -74,7 +72,7 @@ public:
 					b3Body* body = m_world.CreateBody(bd);
 
 					b3HullShape hs;
-					hs.m_hull = &m_boxHull;
+					hs.m_hull = &b3BoxHull_identity;
 
 					b3ShapeDef sd;
 					sd.shape = &hs;
diff --git a/examples/testbed/tests/quadric_shapes.h b/examples/testbed/tests/quadric_shapes.h
index 30cb344..43de380 100644
--- a/examples/testbed/tests/quadric_shapes.h
+++ b/examples/testbed/tests/quadric_shapes.h
@@ -21,19 +21,11 @@
 
 #include <testbed/tests/quickhull_test.h>
 
-extern DebugDraw* g_debugDraw;
-extern Camera g_camera;
-extern Settings g_settings;
-
 class QuadricShapes : public Test
 {
 public:
 	QuadricShapes()
 	{
-		g_camera.m_center.Set(2.0f, -2.0f, 0.0f);
-		g_camera.m_zoom = 20.0f;
-		g_settings.drawCenterOfMasses = true;
-
 		{
 			b3BodyDef bd;
 			b3Body* ground = m_world.CreateBody(bd);
diff --git a/examples/testbed/tests/quickhull_test.h b/examples/testbed/tests/quickhull_test.h
index 3b0a3ce..844484f 100644
--- a/examples/testbed/tests/quickhull_test.h
+++ b/examples/testbed/tests/quickhull_test.h
@@ -21,74 +21,6 @@
 
 #include <bounce/quickhull/qh_hull.h>
 
-extern DebugDraw* g_debugDraw;
-extern Camera g_camera;
-extern Settings g_settings;
-
-inline b3Vec3 ComputeCentroid(const b3Hull& h)
-{
-	b3Vec3 c(0.0f, 0.0f, 0.0f);
-	float32 volume = 0.0f;
-	
-	// Pick reference point not too away from the origin 
-	// to minimize floating point rounding errors.
-	b3Vec3 p1(0.0f, 0.0f, 0.0f);
-	// Put it inside the hull.
-	for (u32 i = 0; i < h.vertexCount; ++i)
-	{
-		p1 += h.vertices[i];
-	}
-	p1 *= 1.0f / float32(h.vertexCount);
-
-	const float32 inv4 = 0.25f;
-	const float32 inv6 = 1.0f / 6.0f;
-	const float32 inv60 = 1.0f / 60.0f;
-	const float32 inv120 = 1.0f / 120.0f;
-
-	b3Vec3 diag(0.0f, 0.0f, 0.0f);
-	b3Vec3 offDiag(0.0f, 0.0f, 0.0f);
-
-	// Triangulate convex polygons
-	for (u32 i = 0; i < h.faceCount; ++i)
-	{
-		const b3Face* face = h.GetFace(i);
-		const b3HalfEdge* begin = h.GetEdge(face->edge);
-
-		const b3HalfEdge* edge = h.GetEdge(begin->next);
-		do
-		{
-			u32 i1 = begin->origin;
-			u32 i2 = edge->origin;
-			const b3HalfEdge* next = h.GetEdge(edge->next);
-			u32 i3 = next->origin;
-
-			b3Vec3 p2 = h.vertices[i1];
-			b3Vec3 p3 = h.vertices[i2];
-			b3Vec3 p4 = h.vertices[i3];
-
-			b3Vec3 e1 = p2 - p1;
-			b3Vec3 e2 = p3 - p1;
-			b3Vec3 e3 = p4 - p1;
-
-			float32 D = b3Det(e1, e2, e3);
-			
-			float32 tetraVolume = inv6 * D;
-			volume += tetraVolume;
-			
-			// Volume weighted centroid
-			c += tetraVolume * inv4 * (e1 + e2 + e3);
-
-			edge = next;
-		} while (h.GetEdge(edge->next) != begin);
-	}
-
-	// Centroid
-	B3_ASSERT(volume > B3_EPSILON);
-	c *= 1.0f / volume;
-	c += p1;
-	return c;
-}
-
 struct Pair
 {
 	void* key;
@@ -259,7 +191,7 @@ inline b3Hull ConvertHull(const qhHull& hull)
 	out.faceCount = faceCount;
 	out.faces = faces;
 	out.planes = planes;
-	out.centroid = ComputeCentroid(out);
+	out.centroid = out.GetCentroid();
 	out.Validate();
 	return out;
 }
@@ -347,8 +279,6 @@ class QuickhullTest : public Test
 public:
 	QuickhullTest()
 	{
-		g_camera.m_zoom = 15.0f;
-
 		b3BoxHull box;
 		box.SetIdentity();
 
diff --git a/examples/testbed/tests/ray_cast.h b/examples/testbed/tests/ray_cast.h
index 524aa96..2255741 100644
--- a/examples/testbed/tests/ray_cast.h
+++ b/examples/testbed/tests/ray_cast.h
@@ -19,8 +19,6 @@
 #ifndef RAY_CAST_H
 #define RAY_CAST_H
 
-extern Settings g_settings;
-
 class RayCast : public Test
 {
 public:
@@ -49,7 +47,7 @@ public:
 			b3Body* body = m_world.CreateBody(bdef);
 
 			b3HullShape hs;
-			hs.m_hull = &m_boxHull;
+			hs.m_hull = &b3BoxHull_identity;
 
 			b3ShapeDef sdef;
 			sdef.shape = &hs;
@@ -91,7 +89,7 @@ public:
 			b3Body* body = m_world.CreateBody(bdef);
 
 			b3HullShape hs;
-			hs.m_hull = &m_boxHull;
+			hs.m_hull = &b3BoxHull_identity;
 
 			b3ShapeDef sdef;
 			sdef.density = 0.0f;
@@ -111,7 +109,7 @@ public:
 			b3Body* body = m_world.CreateBody(bdef);
 
 			b3HullShape hs;
-			hs.m_hull = &m_boxHull;
+			hs.m_hull = &b3BoxHull_identity;
 
 			b3ShapeDef sdef;
 			sdef.density = 0.0f;
@@ -131,7 +129,7 @@ public:
 			b3Body* body = m_world.CreateBody(bdef);
 
 			b3HullShape hs;
-			hs.m_hull = &m_boxHull;
+			hs.m_hull = &b3BoxHull_identity;
 
 			b3ShapeDef sdef;
 			sdef.density = 0.0f;
@@ -151,7 +149,7 @@ public:
 			b3Body* body = m_world.CreateBody(bdef);
 
 			b3HullShape hs;
-			hs.m_hull = &m_boxHull;
+			hs.m_hull = &b3BoxHull_identity;
 
 			b3ShapeDef sdef;
 			sdef.density = 0.0f;
@@ -228,7 +226,8 @@ public:
 
 	void Step()
 	{
-		float32 dt = g_settings.hertz > 0.0f ? 1.0f / g_settings.hertz : 0.0f;
+		float32 dt = g_settings->inv_hertz;
+		
 		b3Quat q(b3Vec3(0.0f, 1.0f, 0.0f), dt * 0.05f * B3_PI);
 		
 		m_p1 = b3Mul(q, m_p1);
@@ -252,4 +251,4 @@ public:
 	b3Vec3 m_p12, m_p22;
 };
 
-#endif
+#endif
\ No newline at end of file
diff --git a/examples/testbed/tests/rope_test.h b/examples/testbed/tests/rope_test.h
index 6699a14..5e41bfe 100644
--- a/examples/testbed/tests/rope_test.h
+++ b/examples/testbed/tests/rope_test.h
@@ -19,8 +19,6 @@
 #ifndef ROPE_TEST_H
 #define ROPE_TEST_H
 
-extern Settings g_settings;
-
 class Rope : public Test
 {
 public:
@@ -31,8 +29,6 @@ public:
 
 	Rope()
 	{
-		g_camera.m_zoom = 30.0f;
-
 		b3Vec3 vs[e_count];
 		float32 ms[e_count];
 		
@@ -89,22 +85,8 @@ public:
 
 	void Step()
 	{
-		float32 dt = g_settings.hertz > 0.0f ? 1.0f / g_settings.hertz : 0.0f;
-
-		if (g_settings.pause)
-		{
-			if (g_settings.singleStep)
-			{
-				g_settings.singleStep = false;
-			}
-			else
-			{
-				dt = 0.0f;
-			}
-		}
-
-		m_rope.Step(dt);
-		m_rope.Draw(g_debugDraw);
+		m_rope.Step(g_settings->inv_hertz);
+		m_rope.Draw();
 	}
 
 	static Test* Create()
diff --git a/examples/testbed/tests/shape_stack.h b/examples/testbed/tests/shape_stack.h
index f4f1ef1..a22b6ba 100644
--- a/examples/testbed/tests/shape_stack.h
+++ b/examples/testbed/tests/shape_stack.h
@@ -89,7 +89,7 @@ public:
 			b3Body* body = m_world.CreateBody(bd);
 
 			b3HullShape hull;
-			hull.m_hull = &m_boxHull;
+			hull.m_hull = &b3BoxHull_identity;
 			
 			b3ShapeDef sd;
 			sd.shape = &hull;
diff --git a/examples/testbed/tests/shift_center.h b/examples/testbed/tests/shift_center.h
index 29e0246..8abb0e3 100644
--- a/examples/testbed/tests/shift_center.h
+++ b/examples/testbed/tests/shift_center.h
@@ -21,19 +21,11 @@
 
 #include <testbed/tests/quickhull_test.h>
 
-extern DebugDraw* g_debugDraw;
-extern Camera g_camera;
-extern Settings g_settings;
-
 class ShiftCenter : public Test
 {
 public:
 	ShiftCenter()
 	{
-		g_camera.m_center.Set(2.0f, -2.0f, 0.0f);
-		g_camera.m_zoom = 20.0f;
-		g_settings.drawCenterOfMasses = true;
-
 		{
 			b3BodyDef bd;
 			b3Body* ground = m_world.CreateBody(bd);
diff --git a/examples/testbed/tests/single_pendulum.h b/examples/testbed/tests/single_pendulum.h
index 2432572..f8b3b63 100644
--- a/examples/testbed/tests/single_pendulum.h
+++ b/examples/testbed/tests/single_pendulum.h
@@ -19,9 +19,6 @@
 #ifndef PENDULUM_H
 #define PENDULUM_H
 
-extern Settings g_settings;
-extern DebugDraw* g_debugDraw;
-
 class SinglePendulum : public Test
 {
 public:
@@ -40,19 +37,7 @@ public:
 
 	void Step()
 	{
-		float32 h = g_settings.hertz > 0.0f ? 1.0f / g_settings.hertz : 0.0f;
-		
-		if (g_settings.pause)
-		{
-			if (g_settings.singleStep)
-			{
-				g_settings.singleStep = false;
-			}
-			else
-			{
-				h = 0.0f;
-			}
-		}
+		float32 h = g_settings->inv_hertz;
 
 		// Solution (acceleration)
 		float32 omega_dot = -m_g / m_r * sin(m_theta);
@@ -83,9 +68,8 @@ public:
 		// Lagrangian
 		float32 L = T - V;
 
-		static char s[256];
-		sprintf(s, "T = %f \nV = %f \nL = %f", T, V, L);
-		g_debugDraw->DrawString(s, b3Color_white);
+		//
+		g_debugDraw->DrawString(b3Color_white, "T = %f \nV = %f \nL = %f", T, V, L);
 	}
 
 	static Test* Create()
diff --git a/examples/testbed/tests/spring_cloth.h b/examples/testbed/tests/spring_cloth.h
index 8444b3c..fc99ed2 100644
--- a/examples/testbed/tests/spring_cloth.h
+++ b/examples/testbed/tests/spring_cloth.h
@@ -19,10 +19,6 @@
 #ifndef SPRING_CLOTH_H
 #define SPRING_CLOTH_H
 
-extern DebugDraw* g_debugDraw;
-extern Camera g_camera;
-extern Settings g_settings;
-
 class SpringCloth : public SpringClothTest
 {
 public:
diff --git a/examples/testbed/tests/spring_cloth_collision_test.h b/examples/testbed/tests/spring_cloth_collision_test.h
index 1328694..35c4bbf 100644
--- a/examples/testbed/tests/spring_cloth_collision_test.h
+++ b/examples/testbed/tests/spring_cloth_collision_test.h
@@ -19,10 +19,6 @@
 #ifndef SPRING_CLOTH_COLLISION_H
 #define SPRING_CLOTH_COLLISION_H
 
-extern DebugDraw* g_debugDraw;
-extern Camera g_camera;
-extern Settings g_settings;
-
 class SpringClothCollision : public SpringClothTest
 {
 public:
diff --git a/examples/testbed/tests/spring_cloth_test.h b/examples/testbed/tests/spring_cloth_test.h
index 8767dae..e101908 100644
--- a/examples/testbed/tests/spring_cloth_test.h
+++ b/examples/testbed/tests/spring_cloth_test.h
@@ -19,10 +19,6 @@
 #ifndef SPRING_CLOTH_TESH_H
 #define SPRING_CLOTH_TESH_H
 
-extern DebugDraw* g_debugDraw;
-extern Camera g_camera;
-extern Settings g_settings;
-
 class ClothDragger
 {
 public:
@@ -208,28 +204,16 @@ class SpringClothTest : public Test
 public:
 	SpringClothTest() : m_clothDragger(&m_clothRay, &m_cloth)
 	{
-		g_camera.m_zoom = 25.0f;
+		g_camera->m_zoom = 25.0f;
 
 		m_clothRay.origin.SetZero();
 		m_clothRay.direction.Set(0.0f, 0.0f, -1.0f);
-		m_clothRay.fraction = g_camera.m_zFar;
+		m_clothRay.fraction = g_camera->m_zFar;
 	}
 
 	void Step()
 	{
-		float32 dt = g_settings.hertz > 0.0f ? 1.0f / g_settings.hertz : 0.0f;
-
-		if (g_settings.pause)
-		{
-			if (g_settings.singleStep)
-			{
-				g_settings.singleStep = false;
-			}
-			else
-			{
-				dt = 0.0f;
-			}
-		}
+		float32 dt = g_settings->inv_hertz;
 
 		m_cloth.Step(dt);
 		m_cloth.Apply();
@@ -245,13 +229,11 @@ public:
 			g_debugDraw->DrawShape(s, b3Color_white, xf);
 		}
 
-		m_cloth.Draw(g_debugDraw);
+		m_cloth.Draw();
 
 		b3SpringClothStep step = m_cloth.GetStep();
 
-		char text[256];
-		sprintf(text, "Iterations = %u", step.iterations);
-		g_debugDraw->DrawString(text, b3Color_white);
+		g_debugDraw->DrawString(b3Color_white, "Iterations = %u", step.iterations);
 
 		if (m_clothDragger.IsSelected() == true)
 		{
diff --git a/examples/testbed/tests/tension_mapping.h b/examples/testbed/tests/tension_mapping.h
index e824a66..19afa90 100644
--- a/examples/testbed/tests/tension_mapping.h
+++ b/examples/testbed/tests/tension_mapping.h
@@ -19,10 +19,6 @@
 #ifndef TENSION_MAPPING_H
 #define TENSION_MAPPING_H
 
-extern DebugDraw* g_debugDraw;
-extern Camera g_camera;
-extern Settings g_settings;
-
 // Hot/Cold color map
 // See http://paulbourke.net/miscellaneous/colourspace/
 static inline b3Color Color(float32 x, float32 a, float32 b)
@@ -88,19 +84,7 @@ public:
 
 	void Step()
 	{
-		float32 dt = g_settings.hertz > 0.0f ? 1.0f / g_settings.hertz : 0.0f;
-
-		if (g_settings.pause)
-		{
-			if (g_settings.singleStep)
-			{
-				g_settings.singleStep = false;
-			}
-			else
-			{
-				dt = 0.0f;
-			}
-		}
+		float32 dt = g_settings->inv_hertz;
 
 		m_cloth.Step(dt);
 		m_cloth.Apply();
@@ -141,9 +125,7 @@ public:
 
 		b3SpringClothStep step = m_cloth.GetStep();
 
-		char text[256];
-		sprintf(text, "Iterations = %u", step.iterations);
-		g_debugDraw->DrawString(text, b3Color_white);
+		g_debugDraw->DrawString(b3Color_white, "Iterations = %u", step.iterations);
 
 		if (m_clothDragger.IsSelected() == true)
 		{
diff --git a/examples/testbed/tests/test.h b/examples/testbed/tests/test.h
index fcce8af..3b3fed8 100644
--- a/examples/testbed/tests/test.h
+++ b/examples/testbed/tests/test.h
@@ -36,11 +36,13 @@ inline float32 RandomFloat(float32 a, float32 b)
 	return a + r;
 }
 
+// Test settings
 struct Settings
 {
 	Settings()
 	{
 		hertz = 60.0f;
+		inv_hertz = 1.0f / hertz;
 		velocityIterations = 8;
 		positionIterations = 2;
 		sleep = false;
@@ -69,7 +71,7 @@ struct Settings
 	bool pause;
 	bool singleStep;
 
-	float32 hertz;
+	float32 hertz, inv_hertz;
 	int velocityIterations;
 	int positionIterations;
 	bool sleep;
@@ -91,16 +93,7 @@ struct Settings
 	bool drawGrid;
 };
 
-class Test;
-
-struct TestEntry
-{
-	typedef Test* (*TestCreate)();
-	const char* name;
-	TestCreate create;
-};
-
-extern TestEntry g_tests[];
+extern Settings* g_settings;
 
 class RayCastListener : public b3RayCastListener
 {
@@ -123,11 +116,14 @@ public:
 	Test();
 	virtual ~Test();
 
-	virtual void BeginContact(b3Contact* contact);
-	virtual void EndContact(b3Contact* contact);
-	virtual void PreSolve(b3Contact* contact);
+	virtual void BeginContact(b3Contact* contact) { }
+	virtual void EndContact(b3Contact* contact) { }
+	virtual void PreSolve(b3Contact* contact) { }
 
 	virtual void Step();
+
+	virtual void Dump() { }
+	
 	virtual void RayHit();
 
 	virtual void MouseMove(const Ray3& pw);
@@ -136,16 +132,22 @@ public:
 	virtual void KeyDown(int button) { }
 	virtual void KeyUp(int button) { }
 
-	virtual void Dump() { }
-
 	b3World m_world;
 	b3RayCastSingleOutput m_rayHit; 
 	b3MouseJoint* m_mouseJoint;
-	
-	b3BoxHull m_boxHull;
-	
+
 	b3BoxHull m_groundHull;
 	b3GridMesh<50, 50> m_groundMesh;
 };
 
+struct TestEntry
+{
+	typedef Test* (*TestCreate)();
+	const char* name;
+	TestCreate create;
+};
+
+extern TestEntry g_tests[];
+extern u32 g_testCount;
+
 #endif
\ No newline at end of file
diff --git a/examples/testbed/tests/thin.h b/examples/testbed/tests/thin.h
index 7073591..88ddf5c 100644
--- a/examples/testbed/tests/thin.h
+++ b/examples/testbed/tests/thin.h
@@ -31,9 +31,6 @@ public:
 
 	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;
diff --git a/examples/testbed/tests/tumbler.h b/examples/testbed/tests/tumbler.h
index c1705d8..d1405a2 100644
--- a/examples/testbed/tests/tumbler.h
+++ b/examples/testbed/tests/tumbler.h
@@ -21,10 +21,6 @@
 
 #include <testbed/tests/quickhull_test.h>
 
-extern DebugDraw* g_debugDraw;
-extern Camera g_camera;
-extern Settings g_settings;
-
 class Tumbler : public Test
 {
 public:
@@ -35,10 +31,6 @@ public:
 
 	Tumbler()
 	{
-		g_camera.m_center.Set(0.0f, 10.0f, 0.0f);
-		g_camera.m_q.SetIdentity();
-		g_camera.m_zoom = 150.0f;
-
 		{
 			b3BodyDef bd;
 			b3Body* ground = m_world.CreateBody(bd);
diff --git a/examples/testbed/tests/varying_friction.h b/examples/testbed/tests/varying_friction.h
index d9951c0..0a1c2ab 100644
--- a/examples/testbed/tests/varying_friction.h
+++ b/examples/testbed/tests/varying_friction.h
@@ -24,10 +24,6 @@ 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);
@@ -35,9 +31,9 @@ public:
 			b3HullShape hs;
 			hs.m_hull = &m_groundHull;
 
-			b3ShapeDef sdef;
-			sdef.shape = &hs;
-			ground->CreateShape(sdef);
+			b3ShapeDef sd;
+			sd.shape = &hs;
+			ground->CreateShape(sd);
 		}
 
 		static b3BoxHull rampHull;
@@ -59,10 +55,10 @@ public:
 			b3HullShape hs;
 			hs.m_hull = &rampHull;
 
-			b3ShapeDef sdef;
-			sdef.shape = &hs;
-			sdef.friction = 0.4f;
-			ramp->CreateShape(sdef);
+			b3ShapeDef sd;
+			sd.shape = &hs;
+			sd.friction = 0.4f;
+			ramp->CreateShape(sd);
 		}
 
 		{
@@ -75,10 +71,10 @@ public:
 			b3HullShape hs;
 			hs.m_hull = &rampHull;
 
-			b3ShapeDef sdef;
-			sdef.shape = &hs;
-			sdef.friction = 0.3f;
-			ramp->CreateShape(sdef);
+			b3ShapeDef sd;
+			sd.shape = &hs;
+			sd.friction = 0.3f;
+			ramp->CreateShape(sd);
 		}
 
 		{
@@ -91,10 +87,10 @@ public:
 			b3HullShape hs;
 			hs.m_hull = &rampHull;
 
-			b3ShapeDef sdef;
-			sdef.shape = &hs;
-			sdef.friction = 0.2f;
-			ramp->CreateShape(sdef);
+			b3ShapeDef sd;
+			sd.shape = &hs;
+			sd.friction = 0.2f;
+			ramp->CreateShape(sd);
 		}
 
 		{
@@ -107,10 +103,10 @@ public:
 			b3HullShape hs;
 			hs.m_hull = &rampHull;
 
-			b3ShapeDef sdef;
-			sdef.shape = &hs;
-			sdef.friction = 0.1f;
-			ramp->CreateShape(sdef);
+			b3ShapeDef sd;
+			sd.shape = &hs;
+			sd.friction = 0.1f;
+			ramp->CreateShape(sd);
 		}
 
 		{
@@ -120,14 +116,14 @@ public:
 			b3Body* body = m_world.CreateBody(bd);
 
 			b3HullShape hs;
-			hs.m_hull = &m_boxHull;
+			hs.m_hull = &b3BoxHull_identity;
 
-			b3ShapeDef sdef;
-			sdef.density = 1.0f;
-			sdef.friction = 0.2f;
-			sdef.shape = &hs;
+			b3ShapeDef sd;
+			sd.density = 1.0f;
+			sd.friction = 0.2f;
+			sd.shape = &hs;
 
-			body->CreateShape(sdef);
+			body->CreateShape(sd);
 		}
 
 		{
@@ -137,14 +133,14 @@ public:
 			b3Body* body = m_world.CreateBody(bd);
 
 			b3HullShape hs;
-			hs.m_hull = &m_boxHull;
+			hs.m_hull = &b3BoxHull_identity;
 
-			b3ShapeDef sdef;
-			sdef.density = 1.0f;
-			sdef.friction = 0.5f;
-			sdef.shape = &hs;
+			b3ShapeDef sd;
+			sd.density = 1.0f;
+			sd.friction = 0.5f;
+			sd.shape = &hs;
 
-			body->CreateShape(sdef);
+			body->CreateShape(sd);
 		}
 
 		{
@@ -154,14 +150,14 @@ public:
 			b3Body* body = m_world.CreateBody(bd);
 
 			b3HullShape hs;
-			hs.m_hull = &m_boxHull;
+			hs.m_hull = &b3BoxHull_identity;
 
-			b3ShapeDef sdef;
-			sdef.density = 1.0f;
-			sdef.friction = 0.8f;
-			sdef.shape = &hs;
+			b3ShapeDef sd;
+			sd.density = 1.0f;
+			sd.friction = 0.8f;
+			sd.shape = &hs;
 
-			body->CreateShape(sdef);
+			body->CreateShape(sd);
 		}
 	}
 
@@ -171,4 +167,4 @@ public:
 	}
 };
 
-#endif
+#endif
\ No newline at end of file
diff --git a/include/bounce/collision/broad_phase.h b/include/bounce/collision/broad_phase.h
index 8ac1efe..1b15376 100644
--- a/include/bounce/collision/broad_phase.h
+++ b/include/bounce/collision/broad_phase.h
@@ -77,7 +77,7 @@ public:
 	void FindNewPairs(T* callback);
 
 	// Draw the proxy AABBs.
-	void Draw(b3Draw* draw) const;
+	void Draw() const;
 private :
 	friend class b3DynamicTree;
 	
@@ -189,9 +189,9 @@ inline void b3BroadPhase::FindNewPairs(T* callback)
 	}
 }
 
-inline void b3BroadPhase::Draw(b3Draw* draw) const
+inline void b3BroadPhase::Draw() const
 {
-	m_tree.Draw(draw);
+	m_tree.Draw();
 }
 
 #endif
\ No newline at end of file
diff --git a/include/bounce/collision/sat/sat_edge_and_hull.h b/include/bounce/collision/sat/sat_edge_and_hull.h
index 2eabc74..60ecb2f 100644
--- a/include/bounce/collision/sat/sat_edge_and_hull.h
+++ b/include/bounce/collision/sat/sat_edge_and_hull.h
@@ -21,20 +21,20 @@
 
 #include <bounce/collision/sat/sat.h>
 
-struct b3Segment;
+struct b3Capsule;
 
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 
-float32 b3ProjectEdge(const b3Segment* hull, const b3Plane& plane);
+float32 b3ProjectEdge(const b3Capsule* hull, const b3Plane& plane);
 
-b3FaceQuery b3QueryFaceSeparation(const b3Transform& xf1, const b3Segment* hull1,
+b3FaceQuery b3QueryFaceSeparation(const b3Transform& xf1, const b3Capsule* hull1,
 	const b3Transform& xf2, const b3Hull* hull2);
 
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 
 float32 b3ProjectEdge(const b3Vec3& P1, const b3Vec3& E1, const b3Vec3& P2, const b3Vec3& E2, const b3Vec3& C2);
 
-b3EdgeQuery b3QueryEdgeSeparation(const b3Transform& xf1, const b3Segment* hull1,
+b3EdgeQuery b3QueryEdgeSeparation(const b3Transform& xf1, const b3Capsule* hull1,
 	const b3Transform& xf2, const b3Hull* hull2);
 
 #endif
\ No newline at end of file
diff --git a/include/bounce/collision/sat/sat_vertex_and_hull.h b/include/bounce/collision/sat/sat_vertex_and_hull.h
index 86ad9d2..52a59d5 100644
--- a/include/bounce/collision/sat/sat_vertex_and_hull.h
+++ b/include/bounce/collision/sat/sat_vertex_and_hull.h
@@ -21,11 +21,13 @@
 
 #include <bounce/collision/sat/sat.h>
 
+struct b3Sphere;
+
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 
-float32 b3ProjectVertex(const b3Vec3& hull, const b3Plane& plane);
+float32 b3ProjectVertex(const b3Sphere* hull, const b3Plane& plane);
 
-b3FaceQuery b3QueryFaceSeparation(const b3Transform& xf1, const b3Vec3& hull1,
+b3FaceQuery b3QueryFaceSeparation(const b3Transform& xf1, const b3Sphere* hull1,
 	const b3Transform& xf2, const b3Hull* hull2);
 
 #endif
diff --git a/include/bounce/collision/shapes/box_hull.h b/include/bounce/collision/shapes/box_hull.h
index ef20564..5d384fa 100644
--- a/include/bounce/collision/shapes/box_hull.h
+++ b/include/bounce/collision/shapes/box_hull.h
@@ -31,6 +31,12 @@ struct b3BoxHull : public b3Hull
 	// Does nothing for performance.
 	b3BoxHull() { }
 
+	// Construct this box from three extents and centered at the origin.
+	b3BoxHull(float32 ex, float32 ey, float32 ez)
+	{
+		Set(ex, ey, ez);
+	}
+		
 	// Set this box to the unit box centered at the origin.
 	void SetIdentity()
 	{
@@ -174,4 +180,6 @@ struct b3BoxHull : public b3Hull
 	}
 };
 
+extern const b3BoxHull b3BoxHull_identity;
+
 #endif
\ No newline at end of file
diff --git a/include/bounce/collision/shapes/capsule.h b/include/bounce/collision/shapes/capsule.h
index 012fe66..3c5464b 100644
--- a/include/bounce/collision/shapes/capsule.h
+++ b/include/bounce/collision/shapes/capsule.h
@@ -21,20 +21,38 @@
 
 #include <bounce/common/math/vec3.h>
 
-struct b3Segment
+struct b3Capsule
 {
+	//
+	b3Capsule() { }
+
+	// 
+	b3Capsule(const b3Vec3& v1, const b3Vec3& v2, float32 r)
+	{
+		vertices[0] = v1;
+		vertices[1] = v2;
+		radius = r;
+	}
+
+	//
+	~b3Capsule() { }
+
 	b3Vec3 vertices[2];
-	
+	float32 radius;
+
 	const b3Vec3& GetVertex(u32 index) const;
 	u32 GetSupportVertex(const b3Vec3& direction) const;
 };
 
-inline const b3Vec3& b3Segment::GetVertex(u32 index) const
+// Unit capsule centered at the origin
+extern const b3Capsule b3Capsule_identity;
+
+inline const b3Vec3& b3Capsule::GetVertex(u32 index) const
 {
 	return vertices[index];
 }
 
-inline u32 b3Segment::GetSupportVertex(const b3Vec3& d) const
+inline u32 b3Capsule::GetSupportVertex(const b3Vec3& d) const
 {
 	if (b3Dot(d, vertices[0]) > b3Dot(d, vertices[1]))
 	{
diff --git a/include/bounce/collision/shapes/hull.h b/include/bounce/collision/shapes/hull.h
index cc27c47..afd1285 100644
--- a/include/bounce/collision/shapes/hull.h
+++ b/include/bounce/collision/shapes/hull.h
@@ -57,6 +57,9 @@ struct b3Hull
 	b3Plane GetEdgeSidePlane(u32 index) const;
 	
 	u32 GetSize() const;
+	
+	b3Vec3 GetCentroid() const;
+
 	void Validate() const;
 	void Validate(const b3Face* face) const;
 	void Validate(const b3HalfEdge* edge) const;
diff --git a/include/bounce/collision/shapes/sphere.h b/include/bounce/collision/shapes/sphere.h
index 8d32ff1..7156fb0 100644
--- a/include/bounce/collision/shapes/sphere.h
+++ b/include/bounce/collision/shapes/sphere.h
@@ -23,6 +23,19 @@
 
 struct b3Sphere
 {
+	//
+	b3Sphere() { }
+	
+	//
+	b3Sphere(const b3Vec3& v, float32 r)
+	{
+		vertex = v;
+		radius = r;
+	}
+
+	//
+	~b3Sphere() { }
+
 	b3Vec3 vertex;
 	float32 radius;
 	
@@ -30,6 +43,9 @@ struct b3Sphere
 	u32 GetSupportVertex(const b3Vec3& direction) const;
 };
 
+// Unit sphere centered at origin
+extern const b3Sphere b3Sphere_identity;
+
 inline const b3Vec3& b3Sphere::GetVertex(u32 index) const
 {
     B3_NOT_USED(index);
diff --git a/include/bounce/collision/trees/dynamic_tree.h b/include/bounce/collision/trees/dynamic_tree.h
index c9dd089..29e9bb3 100644
--- a/include/bounce/collision/trees/dynamic_tree.h
+++ b/include/bounce/collision/trees/dynamic_tree.h
@@ -19,7 +19,6 @@
 #ifndef B3_DYNAMIC_TREE_H
 #define B3_DYNAMIC_TREE_H
 
-#include <bounce/common/draw.h>
 #include <bounce/common/template/stack.h>
 #include <bounce/collision/shapes/aabb3.h>
 #include <bounce/collision/collision.h>
@@ -67,7 +66,7 @@ public :
 	void Validate(i32 node) const;
 
 	// Draw this tree.
-	void Draw(b3Draw* draw) const;
+	void Draw() const;
 private :
 	struct b3Node 
 	{
diff --git a/include/bounce/collision/trees/static_tree.h b/include/bounce/collision/trees/static_tree.h
index cac8ba7..2085ca6 100644
--- a/include/bounce/collision/trees/static_tree.h
+++ b/include/bounce/collision/trees/static_tree.h
@@ -19,7 +19,6 @@
 #ifndef B3_STATIC_TREE_H
 #define B3_STATIC_TREE_H
 
-#include <bounce/common/draw.h>
 #include <bounce/common/template/stack.h>
 #include <bounce/collision/shapes/aabb3.h>
 #include <bounce/collision/collision.h>
@@ -55,7 +54,7 @@ public:
 	void RayCast(T* callback, const b3RayCastInput& input) const;
 
 	// Draw this tree.
-	void Draw(b3Draw* draw) const;
+	void Draw() const;
 
 	u32 GetSize() const;
 private :
diff --git a/include/bounce/common/draw.h b/include/bounce/common/draw.h
index 98e66bc..cbb2b51 100644
--- a/include/bounce/common/draw.h
+++ b/include/bounce/common/draw.h
@@ -117,6 +117,11 @@ public :
 	u32 m_flags;
 };
 
+// The debug drawer interface used by Bounce. 
+// You should set this to an implementation 
+// before calling any function that uses the interface.
+extern b3Draw* b3Draw_draw;
+
 inline void b3Draw::SetFlags(u32 flags)
 {
 	m_flags = flags;
diff --git a/include/bounce/common/math/mat22.h b/include/bounce/common/math/mat22.h
index cfdda1c..bc66b82 100644
--- a/include/bounce/common/math/mat22.h
+++ b/include/bounce/common/math/mat22.h
@@ -46,6 +46,12 @@ struct b3Mat22
 	b3Vec2 x, y;
 };
 
+// Zero matrix
+extern const b3Mat22 b3Mat22_zero;
+
+// Identity matrix
+extern const b3Mat22 b3Mat22_identity;
+
 // Multiply a matrix times a vector.
 inline b3Vec2 operator*(const b3Mat22& A, const b3Vec2& v)
 {
diff --git a/include/bounce/common/math/mat33.h b/include/bounce/common/math/mat33.h
index 07d3452..3696e22 100644
--- a/include/bounce/common/math/mat33.h
+++ b/include/bounce/common/math/mat33.h
@@ -90,8 +90,8 @@ struct b3Mat33
 };
 
 // Usefull constants.
-extern b3Mat33 b3Mat33_zero;
-extern b3Mat33 b3Mat33_identity;
+extern const b3Mat33 b3Mat33_zero;
+extern const b3Mat33 b3Mat33_identity;
 
 // Add two matrices.
 inline b3Mat33 operator+(const b3Mat33& A, const b3Mat33& B) 
diff --git a/include/bounce/common/math/quat.h b/include/bounce/common/math/quat.h
index 4d5ebc1..eb5d8c9 100644
--- a/include/bounce/common/math/quat.h
+++ b/include/bounce/common/math/quat.h
@@ -141,6 +141,9 @@ struct b3Quat
 	float32 x, y, z, w;
 };
 
+// Identity quaternion
+extern const b3Quat b3Quat_identity;
+
 // Add two quaternions.
 inline b3Quat operator+(const b3Quat& a, const b3Quat& b)
 {
diff --git a/include/bounce/common/math/transform.h b/include/bounce/common/math/transform.h
index f3a45a8..7169251 100644
--- a/include/bounce/common/math/transform.h
+++ b/include/bounce/common/math/transform.h
@@ -31,6 +31,13 @@ struct b3Transform
 	// Default ctor does nothing for performance.
 	b3Transform() { }
 	
+	// Set this transform from a rotation matrix and a translation vector.
+	b3Transform(const b3Mat33& _rotation, const b3Vec3& _translation)
+	{
+		rotation = _rotation;
+		position = _translation;
+	}
+	
 	// Set this transform from a rotation quaternion and a translation vector.
 	b3Transform(const b3Quat& _rotation, const b3Vec3& _translation)
 	{
@@ -49,6 +56,9 @@ struct b3Transform
 	b3Vec3 position; // in fact a translation
 };
 
+// Identity transformation
+extern const b3Transform b3Transform_identity;
+
 // Multiply a transform times a vector.
 inline b3Vec3 b3Mul(const b3Transform& T, const b3Vec3& v)
 {
diff --git a/include/bounce/common/math/vec2.h b/include/bounce/common/math/vec2.h
index 1fe96d3..4fcaac9 100644
--- a/include/bounce/common/math/vec2.h
+++ b/include/bounce/common/math/vec2.h
@@ -91,6 +91,15 @@ struct b3Vec2
 	float32 x, y;
 };
 
+// Zero vector 
+extern const b3Vec2 b3Vec2_zero;
+
+// Left vector 
+extern const b3Vec2 b3Vec2_x;
+
+// Right vector 
+extern const b3Vec2 b3Vec2_y;
+
 // Negate a vector.
 inline b3Vec2 operator-(const b3Vec2& v)
 {
diff --git a/include/bounce/common/math/vec3.h b/include/bounce/common/math/vec3.h
index 66a6cca..0b04bda 100644
--- a/include/bounce/common/math/vec3.h
+++ b/include/bounce/common/math/vec3.h
@@ -106,6 +106,18 @@ struct b3Vec3
 	float32 x, y, z;
 };
 
+// Zero vector
+extern const b3Vec3 b3Vec3_zero;
+
+// Right vector
+extern const b3Vec3 b3Vec3_x;
+
+// Up vector 
+extern const b3Vec3 b3Vec3_y;
+
+// Forward vector 
+extern const b3Vec3 b3Vec3_z;
+
 // Negate a vector.
 inline b3Vec3 operator-(const b3Vec3& v) 
 {
diff --git a/include/bounce/dynamics/cloth/cloth.h b/include/bounce/dynamics/cloth/cloth.h
index 9a27afa..84aca19 100644
--- a/include/bounce/dynamics/cloth/cloth.h
+++ b/include/bounce/dynamics/cloth/cloth.h
@@ -23,7 +23,6 @@
 #include <bounce/collision/collision.h>
 
 struct b3Mesh;
-class b3Draw;
 
 struct b3ClothDef
 {
@@ -110,7 +109,7 @@ public:
 		return m_ps;
 	}
 
-	void Draw(b3Draw* draw) const;
+	void Draw() const;
 private:
 	void SolveC1();
 	void SolveC2();
diff --git a/include/bounce/dynamics/cloth/spring_cloth.h b/include/bounce/dynamics/cloth/spring_cloth.h
index 5e20a08..9d9eb0c 100644
--- a/include/bounce/dynamics/cloth/spring_cloth.h
+++ b/include/bounce/dynamics/cloth/spring_cloth.h
@@ -25,7 +25,6 @@
 #define B3_CLOTH_SHAPE_CAPACITY 32
 
 class b3StackAllocator;
-class b3Draw;
 
 class b3Shape;
 
@@ -188,7 +187,7 @@ public:
 	void Apply() const;
 
 	// Debug draw the cloth mesh.
-	void Draw(b3Draw* draw) const;
+	void Draw() const;
 protected:
 	friend class b3SpringSolver;
 	
diff --git a/include/bounce/dynamics/contacts/collide/clip.h b/include/bounce/dynamics/contacts/collide/clip.h
index 7bae6c5..cb7ff55 100644
--- a/include/bounce/dynamics/contacts/collide/clip.h
+++ b/include/bounce/dynamics/contacts/collide/clip.h
@@ -75,11 +75,11 @@ struct b3ClipPlane
 };
 
 struct b3Hull;
-struct b3Segment;
+struct b3Capsule;
 
 // Build a clip edge for an edge.
 void b3BuildEdge(b3ClipVertex vOut[2],
-	const b3Segment* hull);
+	const b3Capsule* hull);
 
 // Build a clip polygon given an index to the polygon face.
 void b3BuildPolygon(b3ClipPolygon& pOut,
@@ -99,7 +99,7 @@ void b3ClipPolygonToPlane(b3ClipPolygon& pOut,
 // Clip a segment by a hull face (side planes).
 // Return the number of output points.
 u32 b3ClipEdgeToFace(b3ClipVertex vOut[2],
-	const b3ClipVertex vIn[2], const b3Segment* hull);
+	const b3ClipVertex vIn[2], const b3Capsule* hull);
 
 // Clip a segment by a hull face (side planes).
 // Return the number of output points.
diff --git a/include/bounce/dynamics/joints/cone_joint.h b/include/bounce/dynamics/joints/cone_joint.h
index 1d2b941..7f111cd 100644
--- a/include/bounce/dynamics/joints/cone_joint.h
+++ b/include/bounce/dynamics/joints/cone_joint.h
@@ -81,7 +81,7 @@ public:
 	void SetConeAngle(float32 angle);
 
 	// Draw this joint.
-	void Draw(b3Draw* draw) const;
+	void Draw() const;
 private:
 	friend class b3Joint;
 	friend class b3Body;
diff --git a/include/bounce/dynamics/joints/joint.h b/include/bounce/dynamics/joints/joint.h
index e552ebb..f973d99 100644
--- a/include/bounce/dynamics/joints/joint.h
+++ b/include/bounce/dynamics/joints/joint.h
@@ -24,7 +24,6 @@
 #include <bounce/common/template/list.h>
 #include <bounce/dynamics/time_step.h>
 
-class b3Draw;
 class b3Body;
 class b3Joint;
 struct b3SolverData;
@@ -116,6 +115,12 @@ public:
 		b3Log("Dump feature not implemented for this joint type.\n");
 	}
 
+	// Draw this joint.
+	virtual void Draw() const
+	{
+		b3Log("Draw feature not implemented for this joint type.\n");
+	}
+
 	// Get the next joint in the world joint list.
 	const b3Joint* GetNext() const;
 	b3Joint* GetNext();
diff --git a/include/bounce/dynamics/joints/mouse_joint.h b/include/bounce/dynamics/joints/mouse_joint.h
index bb9af37..e044495 100644
--- a/include/bounce/dynamics/joints/mouse_joint.h
+++ b/include/bounce/dynamics/joints/mouse_joint.h
@@ -58,7 +58,7 @@ public:
 	void SetTarget(const b3Vec3& target);
 
 	// Draw this joint.
-	void Draw(b3Draw* draw) const;
+	void Draw() const;
 private:
 	friend class b3Joint;
 	friend class b3JointManager;
diff --git a/include/bounce/dynamics/joints/revolute_joint.h b/include/bounce/dynamics/joints/revolute_joint.h
index f17f98d..47214b8 100644
--- a/include/bounce/dynamics/joints/revolute_joint.h
+++ b/include/bounce/dynamics/joints/revolute_joint.h
@@ -132,7 +132,7 @@ public:
 	void SetMaxMotorTorque(float32 torque);
 
 	// Draw this joint.
-	void Draw(b3Draw* draw) const;
+	void Draw() const;
 private:
 	friend class b3Joint;
 	friend class b3JointManager;
diff --git a/include/bounce/dynamics/joints/sphere_joint.h b/include/bounce/dynamics/joints/sphere_joint.h
index aa9fac7..60e1782 100644
--- a/include/bounce/dynamics/joints/sphere_joint.h
+++ b/include/bounce/dynamics/joints/sphere_joint.h
@@ -52,7 +52,7 @@ public:
 	b3Vec3 GetAnchorB() const;
 	
 	// Draw this joint.
-	void Draw(b3Draw* draw) const;
+	void Draw() const;
 private:
 	friend class b3Joint;
 	friend class b3JointManager;
diff --git a/include/bounce/dynamics/joints/spring_joint.h b/include/bounce/dynamics/joints/spring_joint.h
index f051610..7af9bcc 100644
--- a/include/bounce/dynamics/joints/spring_joint.h
+++ b/include/bounce/dynamics/joints/spring_joint.h
@@ -94,7 +94,7 @@ public:
 	void SetDampingRatio(float32 ratio);
 
 	// Draw this joint.
-	void Draw(b3Draw* draw) const;
+	void Draw() const;
 private:
 	friend class b3Joint;
 	friend class b3JointManager;
diff --git a/include/bounce/dynamics/joints/weld_joint.h b/include/bounce/dynamics/joints/weld_joint.h
index be60426..e6ced48 100644
--- a/include/bounce/dynamics/joints/weld_joint.h
+++ b/include/bounce/dynamics/joints/weld_joint.h
@@ -57,7 +57,7 @@ public:
 	b3Vec3 GetAnchorB() const;
 
 	// Draw this joint.
-	void Draw(b3Draw* draw) const;
+	void Draw() const;
 private:
 	friend class b3Joint;
 	friend class b3JointManager;
diff --git a/include/bounce/dynamics/rope/rope.h b/include/bounce/dynamics/rope/rope.h
index de3fc7a..4e04763 100644
--- a/include/bounce/dynamics/rope/rope.h
+++ b/include/bounce/dynamics/rope/rope.h
@@ -21,8 +21,6 @@
 
 #include <bounce/common/math/transform.h>
 
-class b3Draw;
-
 struct b3RopeBody;
 
 //
@@ -86,7 +84,7 @@ public:
 	void Step(float32 dt);
 
 	//
-	void Draw(b3Draw* draw) const;
+	void Draw() const;
 private:
 	//
 	float32 m_kd1, m_kd2;
diff --git a/include/bounce/dynamics/world.h b/include/bounce/dynamics/world.h
index a74710b..3251875 100644
--- a/include/bounce/dynamics/world.h
+++ b/include/bounce/dynamics/world.h
@@ -117,13 +117,11 @@ public:
 	const b3List2<b3Contact>& GetContactList() const;
 	b3List2<b3Contact>& GetContactList();
 
-	// Debug draw the physics entities that belong to this world.
-	// The user must implement the debug draw interface b3Draw and b3_debugDraw must have been 
-	// set to the user implementation.
-	void DebugDraw() const;
+	// Draw the entities in this world.
+	void Draw() const;
+	
+	// Draw a shape.
 	void DrawShape(const b3Transform& xf, const b3Shape* shape) const;
-	void DrawJoint(const b3Joint* joint) const;
-	void DrawContact(const b3Contact* contact) const;
 private :
 	enum b3Flags 
 	{
@@ -144,7 +142,6 @@ private :
 	bool m_warmStarting;
 	u32 m_flags;
 	b3Vec3 m_gravity;
-	b3Draw* m_debugDraw;
 
 	b3StackAllocator m_stackAllocator;
 	b3BlockPool m_bodyBlocks;
diff --git a/premake5.lua b/premake5.lua
index 38f7fc2..e33ea59 100644
--- a/premake5.lua
+++ b/premake5.lua
@@ -257,17 +257,33 @@ solution (solution_name)
 		language "C++"
 		location ( solution_dir .. action )
 		includedirs { external_dir, bounce_inc_dir, examples_inc_dir }
-		vpaths { ["Headers"] = "**.h", ["Sources"] = "**.cpp" }
+		vpaths { [""] = "testbed" }
 
 		files 
 		{ 
 			examples_inc_dir .. "/testbed/framework/debug_draw.h", 
 			examples_inc_dir .. "/testbed/framework/profiler.h", 
+			examples_inc_dir .. "/testbed/framework/recorder_profiler.h", 
+			examples_inc_dir .. "/testbed/framework/json_profiler.h", 
+			examples_inc_dir .. "/testbed/framework/testbed_listener.h", 
+			
+			examples_inc_dir .. "/testbed/framework/model.h", 
+			examples_inc_dir .. "/testbed/framework/view.h", 
+			examples_inc_dir .. "/testbed/framework/controller.h", 
+			
 			examples_inc_dir .. "/testbed/tests/**.h", 
 			
 			examples_src_dir .. "/testbed/framework/profiler.cpp", 
+			examples_src_dir .. "/testbed/framework/recorder_profiler.cpp", 
+			examples_src_dir .. "/testbed/framework/json_profiler.cpp", 
+			
+			examples_inc_dir .. "/testbed/framework/model.cpp", 
+			examples_inc_dir .. "/testbed/framework/view.cpp", 
+			examples_inc_dir .. "/testbed/framework/controller.cpp", 
+			
 			examples_src_dir .. "/testbed/framework/test.cpp", 
 			examples_src_dir .. "/testbed/framework/test_entries.cpp", 
+			
 			examples_src_dir .. "/testbed/framework/main.cpp" 
 		}
 		
diff --git a/src/bounce/collision/collision.cpp b/src/bounce/collision/collision.cpp
new file mode 100644
index 0000000..9826e31
--- /dev/null
+++ b/src/bounce/collision/collision.cpp
@@ -0,0 +1,27 @@
+/*
+* 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.
+*/
+
+#include <bounce/collision/shapes/sphere.h>
+#include <bounce/collision/shapes/capsule.h>
+#include <bounce/collision/shapes/box_hull.h>
+
+const b3Sphere b3Sphere_identity(b3Vec3_zero, 1.0f); 
+
+const b3Capsule b3Capsule_identity(b3Vec3(0.0f, -0.5f, 0.0f), b3Vec3(0.0f, 0.5f, 0.0f), 1.0f);
+
+const b3BoxHull b3BoxHull_identity(1.0f, 1.0f, 1.0f);
\ No newline at end of file
diff --git a/src/bounce/collision/sat/sat_edge_and_hull.cpp b/src/bounce/collision/sat/sat_edge_and_hull.cpp
index ca6ca9a..fe639df 100644
--- a/src/bounce/collision/sat/sat_edge_and_hull.cpp
+++ b/src/bounce/collision/sat/sat_edge_and_hull.cpp
@@ -20,13 +20,13 @@
 #include <bounce/collision/shapes/capsule.h>
 #include <bounce/collision/shapes/hull.h>
 
-float32 b3ProjectEdge(const b3Segment* hull, const b3Plane& plane)
+float32 b3ProjectEdge(const b3Capsule* hull, const b3Plane& plane)
 {
 	b3Vec3 support = hull->GetVertex(hull->GetSupportVertex(-plane.normal));
 	return b3Distance(support, plane);
 }
 
-b3FaceQuery b3QueryFaceSeparation(const b3Transform& xf1, const b3Segment* hull1,
+b3FaceQuery b3QueryFaceSeparation(const b3Transform& xf1, const b3Capsule* hull1,
 	const b3Transform& xf2, const b3Hull* hull2)
 {
 	// Perform computations in the local space of the first hull.
@@ -95,7 +95,7 @@ float32 b3ProjectEdge(const b3Vec3& P1, const b3Vec3& E1,
 	return b3Dot(N, P2 - P1);
 }
 
-b3EdgeQuery b3QueryEdgeSeparation(const b3Transform& xf1, const b3Segment* hull1, const b3Transform& xf2, const b3Hull* hull2)
+b3EdgeQuery b3QueryEdgeSeparation(const b3Transform& xf1, const b3Capsule* hull1, const b3Transform& xf2, const b3Hull* hull2)
 {
 	// Query minimum edge separation.
 	u32 maxIndex = 0;
diff --git a/src/bounce/collision/sat/sat_vertex_and_hull.cpp b/src/bounce/collision/sat/sat_vertex_and_hull.cpp
index b3ea83c..96a4b81 100644
--- a/src/bounce/collision/sat/sat_vertex_and_hull.cpp
+++ b/src/bounce/collision/sat/sat_vertex_and_hull.cpp
@@ -20,17 +20,17 @@
 #include <bounce/collision/shapes/sphere.h>
 #include <bounce/collision/shapes/hull.h>
 
-float32 b3ProjectVertex(const b3Vec3& hull, const b3Plane& plane)
+float32 b3ProjectVertex(const b3Sphere* hull, const b3Plane& plane)
 {
-	b3Vec3 support = hull;
+	b3Vec3 support = hull->GetVertex(hull->GetSupportVertex(-plane.normal));
 	return b3Distance(support, plane);
 }
 
-b3FaceQuery b3QueryFaceSeparation(const b3Transform& xf1, const b3Vec3& hull,
+b3FaceQuery b3QueryFaceSeparation(const b3Transform& xf1, const b3Sphere* hull,
 	const b3Transform& xf2, const b3Hull* hull2)
 {
 	// Perform computations in the local space of the second hull.
-	b3Vec3 support = b3MulT(xf2, b3Mul(xf1, hull));
+	b3Vec3 support = b3MulT(xf2, b3Mul(xf1, hull->vertex));
 
 	u32 maxIndex = 0;
 	float32 maxSeparation = -B3_MAX_FLOAT;
diff --git a/src/bounce/collision/shapes/hull.cpp b/src/bounce/collision/shapes/hull.cpp
index 5dbcd19..5347e06 100644
--- a/src/bounce/collision/shapes/hull.cpp
+++ b/src/bounce/collision/shapes/hull.cpp
@@ -77,4 +77,70 @@ void b3Hull::Validate(const b3HalfEdge* e) const
 		B3_ASSERT(count < edgeCount);
 		++count;
 	} while (e != begin);
+}
+
+b3Vec3 b3Hull::GetCentroid() const
+{
+	Validate();
+
+	b3Vec3 c(0.0f, 0.0f, 0.0f);
+	float32 volume = 0.0f;
+
+	// Pick reference point not too away from the origin 
+	// to minimize floating point rounding errors.
+	b3Vec3 p1(0.0f, 0.0f, 0.0f);
+	// Put it inside the hull.
+	for (u32 i = 0; i < vertexCount; ++i)
+	{
+		p1 += vertices[i];
+	}
+	p1 /= float32(vertexCount);
+
+	const float32 inv4 = 0.25f;
+	const float32 inv6 = 1.0f / 6.0f;
+	const float32 inv60 = 1.0f / 60.0f;
+	const float32 inv120 = 1.0f / 120.0f;
+
+	b3Vec3 diag(0.0f, 0.0f, 0.0f);
+	b3Vec3 offDiag(0.0f, 0.0f, 0.0f);
+
+	// Triangulate convex polygons
+	for (u32 i = 0; i < faceCount; ++i)
+	{
+		const b3Face* face = GetFace(i);
+		const b3HalfEdge* begin = GetEdge(face->edge);
+
+		const b3HalfEdge* edge = GetEdge(begin->next);
+		do
+		{
+			u32 i1 = begin->origin;
+			u32 i2 = edge->origin;
+			const b3HalfEdge* next = GetEdge(edge->next);
+			u32 i3 = next->origin;
+
+			b3Vec3 p2 = vertices[i1];
+			b3Vec3 p3 = vertices[i2];
+			b3Vec3 p4 = vertices[i3];
+
+			b3Vec3 e1 = p2 - p1;
+			b3Vec3 e2 = p3 - p1;
+			b3Vec3 e3 = p4 - p1;
+
+			float32 D = b3Det(e1, e2, e3);
+
+			float32 tetraVolume = inv6 * D;
+			volume += tetraVolume;
+
+			// Volume weighted centroid
+			c += tetraVolume * inv4 * (e1 + e2 + e3);
+
+			edge = next;
+		} while (GetEdge(edge->next) != begin);
+	}
+
+	// Centroid
+	B3_ASSERT(volume > B3_EPSILON);
+	c /= volume;
+	c += p1;
+	return c;
 }
\ No newline at end of file
diff --git a/src/bounce/collision/trees/dynamic_tree.cpp b/src/bounce/collision/trees/dynamic_tree.cpp
index ce54721..9485a71 100644
--- a/src/bounce/collision/trees/dynamic_tree.cpp
+++ b/src/bounce/collision/trees/dynamic_tree.cpp
@@ -17,6 +17,7 @@
 */
 
 #include <bounce/collision/trees/dynamic_tree.h>
+#include <bounce/common/draw.h>
 
 b3DynamicTree::b3DynamicTree() 
 {
@@ -362,7 +363,7 @@ void b3DynamicTree::Validate(i32 nodeID) const
 	}
 }
 
-void b3DynamicTree::Draw(b3Draw* draw) const
+void b3DynamicTree::Draw() const
 {
 	if (m_nodeCount == 0)
 	{
@@ -385,11 +386,11 @@ void b3DynamicTree::Draw(b3Draw* draw) const
 		const b3Node* node = m_nodes + nodeIndex;
 		if (node->IsLeaf())
 		{
-			draw->DrawAABB(node->aabb, b3Color_pink);
+			b3Draw_draw->DrawAABB(node->aabb, b3Color_pink);
 		}
 		else
 		{
-			draw->DrawAABB(node->aabb, b3Color_red);
+			b3Draw_draw->DrawAABB(node->aabb, b3Color_red);
 			
 			stack.Push(node->child1);
 			stack.Push(node->child2);
diff --git a/src/bounce/collision/trees/static_tree.cpp b/src/bounce/collision/trees/static_tree.cpp
index 5f3c104..6535ef1 100644
--- a/src/bounce/collision/trees/static_tree.cpp
+++ b/src/bounce/collision/trees/static_tree.cpp
@@ -18,6 +18,7 @@
 
 #include <bounce/collision/trees/static_tree.h>
 #include <bounce/common/template/stack.h>
+#include <bounce/common/draw.h>
 
 b3StaticTree::b3StaticTree()
 {
@@ -178,7 +179,7 @@ void b3StaticTree::Build(const b3AABB3* set, u32 count)
 	B3_ASSERT(m_nodeCount == nodeCapacity);
 }
 
-void b3StaticTree::Draw(b3Draw* draw) const
+void b3StaticTree::Draw() const
 {
 	if (m_nodeCount == 0)
 	{
@@ -199,11 +200,11 @@ void b3StaticTree::Draw(b3Draw* draw) const
 		const b3Node* node = m_nodes + nodeIndex;
 		if (node->IsLeaf())
 		{
-			draw->DrawAABB(node->aabb, b3Color_pink);
+			b3Draw_draw->DrawAABB(node->aabb, b3Color_pink);
 		}
 		else
 		{
-			draw->DrawAABB(node->aabb, b3Color_red);
+			b3Draw_draw->DrawAABB(node->aabb, b3Color_red);
 			
 			stack.Push(node->child1);
 			stack.Push(node->child2);
diff --git a/src/bounce/common/math/mat.cpp b/src/bounce/common/math/math.cpp
similarity index 83%
rename from src/bounce/common/math/mat.cpp
rename to src/bounce/common/math/math.cpp
index f1d744c..f50ff18 100644
--- a/src/bounce/common/math/mat.cpp
+++ b/src/bounce/common/math/math.cpp
@@ -16,28 +16,45 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
+#include <bounce/common/math/vec2.h>
+#include <bounce/common/math/vec3.h>
+
 #include <bounce/common/math/mat22.h>
 #include <bounce/common/math/mat33.h>
 #include <bounce/common/math/mat44.h>
+#include <bounce/common/math/transform.h>
 
-b3Mat22 b3Mat22_zero = b3Mat22(
+const b3Vec2 b3Vec2_zero(0.0f, 0.0f);
+const b3Vec2 b3Vec2_x(1.0f, 0.0f);
+const b3Vec2 b3Vec2_y(0.0f, 1.0f);
+
+const b3Vec3 b3Vec3_zero(0.0f, 0.0f, 0.0f);
+const b3Vec3 b3Vec3_x(1.0f, 0.0f, 0.0f);
+const b3Vec3 b3Vec3_y(0.0f, 1.0f, 0.0f);
+const b3Vec3 b3Vec3_z(0.0f, 0.0f, 1.0f);
+
+const b3Mat22 b3Mat22_zero(
 	b3Vec2(0.0f, 0.0f),
 	b3Vec2(0.0f, 0.0f));
 
-b3Mat22 b3Mat22_identity = b3Mat22(
+const b3Mat22 b3Mat22_identity(
 	b3Vec2(1.0f, 0.0f),
 	b3Vec2(0.0f, 1.0f));
 
-b3Mat33 b3Mat33_zero = b3Mat33(
+const b3Mat33 b3Mat33_zero(
 	b3Vec3(0.0f, 0.0f, 0.0f),
 	b3Vec3(0.0f, 0.0f, 0.0f),
 	b3Vec3(0.0f, 0.0f, 0.0f));
 
-b3Mat33 b3Mat33_identity = b3Mat33(
+const b3Mat33 b3Mat33_identity(
 	b3Vec3(1.0f, 0.0f, 0.0f),
 	b3Vec3(0.0f, 1.0f, 0.0f),
 	b3Vec3(0.0f, 0.0f, 1.0f));
 
+const b3Transform b3Transform_identity(b3Mat33_identity, b3Vec3_zero);
+
+const b3Quat b3Quat_identity(0.0f, 0.0f, 0.0f, 1.0f);
+
 b3Vec2 b3Mat22::Solve(const b3Vec2& b) const
 {
 	// Cramer's rule
diff --git a/src/bounce/dynamics/cloth/cloth.cpp b/src/bounce/dynamics/cloth/cloth.cpp
index 830291b..534181c 100644
--- a/src/bounce/dynamics/cloth/cloth.cpp
+++ b/src/bounce/dynamics/cloth/cloth.cpp
@@ -368,13 +368,13 @@ void b3Cloth::SolveC2()
 	}
 }
 
-void b3Cloth::Draw(b3Draw* draw) const
+void b3Cloth::Draw() const
 {
 	const b3Mesh* m = m_mesh;
 	
 	for (u32 i = 0; i < m->vertexCount; ++i)
 	{
-		draw->DrawPoint(m_ps[i].p, 6.0f, b3Color_green);
+		b3Draw_draw->DrawPoint(m_ps[i].p, 6.0f, b3Color_green);
 	}
 
 	for (u32 i = 0; i < m->triangleCount; ++i)
@@ -394,7 +394,7 @@ void b3Cloth::Draw(b3Draw* draw) const
 
 		b3Vec3 n2 = -n1;
 
-		draw->DrawSolidTriangle(n1, v1, v2, v3, b3Color_blue);
-		draw->DrawSolidTriangle(n2, v1, v3, v2, b3Color_blue);
+		b3Draw_draw->DrawSolidTriangle(n1, v1, v2, v3, b3Color_blue);
+		b3Draw_draw->DrawSolidTriangle(n2, v1, v3, v2, b3Color_blue);
 	}
 }
\ No newline at end of file
diff --git a/src/bounce/dynamics/cloth/spring_cloth.cpp b/src/bounce/dynamics/cloth/spring_cloth.cpp
index fb2db21..6bf283f 100644
--- a/src/bounce/dynamics/cloth/spring_cloth.cpp
+++ b/src/bounce/dynamics/cloth/spring_cloth.cpp
@@ -23,6 +23,7 @@
 #include <bounce/dynamics/shapes/shape.h>
 #include <bounce/collision/shapes/mesh.h>
 #include <bounce/common/memory/stack_allocator.h>
+#include <bounce/common/draw.h>
 
 #define B3_FORCE_THRESHOLD (0.1f)
 
@@ -610,7 +611,7 @@ void b3SpringCloth::Apply() const
 	}
 }
 
-void b3SpringCloth::Draw(b3Draw* draw) const
+void b3SpringCloth::Draw() const
 {
 	const b3Mesh* m = m_mesh;
 
@@ -620,16 +621,16 @@ void b3SpringCloth::Draw(b3Draw* draw) const
 		{
 			if (m_contacts[i].Fn < B3_FORCE_THRESHOLD)
 			{
-				draw->DrawPoint(m_x[i], 6.0f, b3Color_yellow);
+				b3Draw_draw->DrawPoint(m_x[i], 6.0f, b3Color_yellow);
 			}
 			else
 			{
-				draw->DrawPoint(m_x[i], 6.0f, b3Color_red);
+				b3Draw_draw->DrawPoint(m_x[i], 6.0f, b3Color_red);
 			}
 		}
 		else
 		{
-			draw->DrawPoint(m_x[i], 6.0f, b3Color_green);
+			b3Draw_draw->DrawPoint(m_x[i], 6.0f, b3Color_green);
 		}
 	}
 
@@ -646,7 +647,7 @@ void b3SpringCloth::Draw(b3Draw* draw) const
 
 		b3Vec3 n2 = -n1;
 
-		draw->DrawSolidTriangle(n1, v1, v2, v3, b3Color_blue);
-		draw->DrawSolidTriangle(n2, v1, v3, v2, b3Color_blue);
+		b3Draw_draw->DrawSolidTriangle(n1, v1, v2, v3, b3Color_blue);
+		b3Draw_draw->DrawSolidTriangle(n2, v1, v3, v2, b3Color_blue);
 	}
 }
\ No newline at end of file
diff --git a/src/bounce/dynamics/contacts/collide/clip.cpp b/src/bounce/dynamics/contacts/collide/clip.cpp
index 48e7b38..ded4e26 100644
--- a/src/bounce/dynamics/contacts/collide/clip.cpp
+++ b/src/bounce/dynamics/contacts/collide/clip.cpp
@@ -21,7 +21,7 @@
 #include <bounce/collision/shapes/hull.h>
 
 void b3BuildEdge(b3ClipVertex vOut[2],
-	const b3Segment* hull)
+	const b3Capsule* hull)
 {
 	vOut[0].position = hull->vertices[0];
 	vOut[0].pair = b3MakePair(0, B3_NULL_EDGE, 0, B3_NULL_EDGE);
@@ -150,7 +150,7 @@ void b3ClipPolygonToPlane(b3ClipPolygon& pOut,
 
 // Clip a segment to edge side planes.
 u32 b3ClipEdgeToFace(b3ClipVertex vOut[2],
-	const b3ClipVertex vIn[2], const b3Segment* hull)
+	const b3ClipVertex vIn[2], const b3Capsule* hull)
 {
 	// Start from somewhere.
 	vOut[0] = vIn[0];
@@ -277,4 +277,4 @@ void b3ClipPolygonToFace(b3ClipPolygon& pOut,
 	} while (edge != begin);
 
 	// Now pOut contains the clipped points.
-}
+}
\ No newline at end of file
diff --git a/src/bounce/dynamics/contacts/collide/collide_capsule_hull.cpp b/src/bounce/dynamics/contacts/collide/collide_capsule_hull.cpp
index 01d4199..29d3186 100644
--- a/src/bounce/dynamics/contacts/collide/collide_capsule_hull.cpp
+++ b/src/bounce/dynamics/contacts/collide/collide_capsule_hull.cpp
@@ -94,13 +94,11 @@ static void b3BuildFaceContact(b3Manifold& manifold,
 	const b3Transform& xf2, u32 index2, const b3HullShape* s2)
 {
 	// Clip edge 1 against the side planes of the face 2.
-	b3Segment segment1;
-	segment1.vertices[0] = xf1 * s1->m_centers[0];
-	segment1.vertices[1] = xf1 * s1->m_centers[1];
+	const b3Capsule hull1(xf1 * s1->m_centers[0], xf1 * s1->m_centers[1], 0.0f);
 	float32 r1 = s1->m_radius;
 
 	b3ClipVertex edge1[2];
-	b3BuildEdge(edge1, &segment1);
+	b3BuildEdge(edge1, &hull1);
 	
 	const b3Hull* hull2 = s2->m_hull;
 	float32 r2 = s2->m_radius;
@@ -162,10 +160,7 @@ void b3CollideCapsuleAndHull(b3Manifold& manifold,
 		return;
 	}
 
-	b3Segment hull1;
-	hull1.vertices[0] = s1->m_centers[0];
-	hull1.vertices[1] = s1->m_centers[1];
-	
+	const b3Capsule hull1(s1->m_centers[0], s1->m_centers[1], 0.0f);
 	const b3Hull* hull2 = s2->m_hull;
 
 	if (gjk.distance > B3_EPSILON)
diff --git a/src/bounce/dynamics/contacts/collide/collide_capsules.cpp b/src/bounce/dynamics/contacts/collide/collide_capsules.cpp
index 357bd48..7b01ed8 100644
--- a/src/bounce/dynamics/contacts/collide/collide_capsules.cpp
+++ b/src/bounce/dynamics/contacts/collide/collide_capsules.cpp
@@ -23,7 +23,7 @@
 #include <bounce/collision/shapes/capsule.h>
 
 // Compute the closest point on a segment to a point. 
-static b3Vec3 b3ClosestPoint(const b3Vec3& Q, const b3Segment& hull)
+static b3Vec3 b3ClosestPoint(const b3Vec3& Q, const b3Capsule& hull)
 {
 	b3Vec3 A = hull.vertices[0];
 	b3Vec3 B = hull.vertices[1];
@@ -56,7 +56,7 @@ static b3Vec3 b3ClosestPoint(const b3Vec3& Q, const b3Segment& hull)
 
 // Compute the closest points between two line segments.
 static void b3ClosestPoints(b3Vec3& C1, b3Vec3& C2,
-	const b3Segment& hull1, const b3Segment& hull2)
+	const b3Capsule& hull1, const b3Capsule& hull2)
 {
 	b3Vec3 P1 = hull1.vertices[0];
 	b3Vec3 Q1 = hull1.vertices[1];
@@ -136,7 +136,7 @@ static void b3ClosestPoints(b3Vec3& C1, b3Vec3& C2,
 	C1 = b3ClosestPoint(C2, hull1);
 }
 
-static bool b3AreParalell(const b3Segment& hull1, const b3Segment& hull2)
+static bool b3AreParalell(const b3Capsule& hull1, const b3Capsule& hull2)
 {
 	b3Vec3 E1 = hull1.vertices[1] - hull1.vertices[0];
 	float32 L1 = b3Length(E1);
@@ -162,11 +162,11 @@ void b3CollideCapsuleAndCapsule(b3Manifold& manifold,
 	const b3Transform& xf1, const b3CapsuleShape* s1,
 	const b3Transform& xf2, const b3CapsuleShape* s2)
 {
-	b3Segment hull1;
+	b3Capsule hull1;
 	hull1.vertices[0] = xf1 * s1->m_centers[0];
 	hull1.vertices[1] = xf1 * s1->m_centers[1];
 	
-	b3Segment hull2;
+	b3Capsule hull2;
 	hull2.vertices[0] = xf2 * s2->m_centers[0];
 	hull2.vertices[1] = xf2 * s2->m_centers[1];
 	
diff --git a/src/bounce/dynamics/contacts/collide/collide_sphere_hull.cpp b/src/bounce/dynamics/contacts/collide/collide_sphere_hull.cpp
index 52d225c..1e0e2cc 100644
--- a/src/bounce/dynamics/contacts/collide/collide_sphere_hull.cpp
+++ b/src/bounce/dynamics/contacts/collide/collide_sphere_hull.cpp
@@ -58,10 +58,10 @@ void b3CollideSphereAndHull(b3Manifold& manifold,
 		return;
 	}
 
-	const b3Vec3& hull1 = s1->m_center;
+	const b3Sphere hull1(s1->m_center, 0.0f);
 	const b3Hull* hull2 = s2->m_hull;
 
-	b3FaceQuery faceQuery = b3QueryFaceSeparation(xf1, hull1, xf2, hull2);
+	b3FaceQuery faceQuery = b3QueryFaceSeparation(xf1, &hull1, xf2, hull2);
 	if (faceQuery.separation > totalRadius)
 	{
 		return;
@@ -70,7 +70,7 @@ void b3CollideSphereAndHull(b3Manifold& manifold,
 	b3Plane localPlane2 = hull2->planes[faceQuery.index];
 	b3Plane plane2 = xf2 * localPlane2;
 	
-	b3Vec3 c1 = xf1 * hull1;
+	b3Vec3 c1 = xf1 * hull1.vertex;
 	b3Vec3 c2 = b3ClosestPointOnPlane(c1, plane2);
 	
 	// Ensure normal orientation to shape 2
diff --git a/src/bounce/dynamics/draw_world.cpp b/src/bounce/dynamics/draw_world.cpp
index d2d0541..3b674d4 100644
--- a/src/bounce/dynamics/draw_world.cpp
+++ b/src/bounce/dynamics/draw_world.cpp
@@ -26,13 +26,13 @@ const b3Color b3Color_blue(0.0f, 0.0f, 1.0f);
 const b3Color b3Color_yellow(1.0f, 1.0f, 0.0f);
 const b3Color b3Color_pink(1.0f, 0.0f, 1.0f);
 
-b3Draw* b3_debugDraw = NULL;
+b3Draw* b3Draw_draw(nullptr);
 
-void b3World::DebugDraw() const
+void b3World::Draw() const
 {
-	B3_ASSERT(b3_debugDraw);
+	B3_ASSERT(b3Draw_draw);
 
-	u32 flags = b3_debugDraw->m_flags;
+	u32 flags = b3Draw_draw->m_flags;
 
 	if (flags & b3Draw::e_centerOfMassesFlag)
 	{
@@ -40,7 +40,7 @@ void b3World::DebugDraw() const
 		{
 			b3Transform xf = b->m_xf;
 			xf.position = b->m_sweep.worldCenter;
-			b3_debugDraw->DrawTransform(xf);
+			b3Draw_draw->DrawTransform(xf);
 		}
 	}
 
@@ -63,7 +63,7 @@ void b3World::DebugDraw() const
 			for (b3Shape* s = b->m_shapeList.m_head; s; s = s->m_next)
 			{
 				const b3AABB3& aabb = m_contactMan.m_broadPhase.GetAABB(s->m_broadPhaseID);
-				b3_debugDraw->DrawAABB(aabb, b3Color_pink);
+				b3Draw_draw->DrawAABB(aabb, b3Color_pink);
 			}
 		}
 	}
@@ -72,7 +72,7 @@ void b3World::DebugDraw() const
 	{
 		for (b3Joint* j = m_jointMan.m_jointList.m_head; j; j = j->m_next)
 		{
-			DrawJoint(j);
+			j->Draw();
 		}
 	}
 
@@ -103,12 +103,12 @@ void b3World::DebugDraw() const
 
 				if (flags & b3Draw::e_contactPointsFlag)
 				{
-					b3_debugDraw->DrawPoint(p, 4.0f, mp->persisting ? b3Color_green : b3Color_red);
+					b3Draw_draw->DrawPoint(p, 4.0f, mp->persisting ? b3Color_green : b3Color_red);
 				}
 
 				if (flags & b3Draw::e_contactNormalsFlag)
 				{
-					b3_debugDraw->DrawSegment(p, p + n, b3Color_white);
+					b3Draw_draw->DrawSegment(p, p + n, b3Color_white);
 				}
 			}
 
@@ -121,20 +121,20 @@ void b3World::DebugDraw() const
 
 				if (flags & b3Draw::e_contactNormalsFlag)
 				{
-					b3_debugDraw->DrawSegment(p, p + n, b3Color_yellow);
+					b3Draw_draw->DrawSegment(p, p + n, b3Color_yellow);
 				}
 
 				if (flags & b3Draw::e_contactTangentsFlag)
 				{
-					b3_debugDraw->DrawSegment(p, p + t1, b3Color_yellow);
-					b3_debugDraw->DrawSegment(p, p + t2, b3Color_yellow);
+					b3Draw_draw->DrawSegment(p, p + t1, b3Color_yellow);
+					b3Draw_draw->DrawSegment(p, p + t2, b3Color_yellow);
 				}
 
 				if (m->pointCount > 2)
 				{
 					if (flags & b3Draw::e_contactPolygonsFlag)
 					{
-						b3_debugDraw->DrawSolidPolygon(wm.normal, points, m->pointCount, b3Color_pink);
+						b3Draw_draw->DrawSolidPolygon(wm.normal, points, m->pointCount, b3Color_pink);
 					}
 				}
 			}
@@ -151,7 +151,7 @@ void b3World::DrawShape(const b3Transform& xf, const b3Shape* shape) const
 	{
 		const b3SphereShape* sphere = (b3SphereShape*)shape;
 		b3Vec3 p = xf * sphere->m_center;
-		b3_debugDraw->DrawPoint(p, 4.0f, wireColor);
+		b3Draw_draw->DrawPoint(p, 4.0f, wireColor);
 		break;
 	}
 	case e_capsuleShape:
@@ -159,9 +159,9 @@ void b3World::DrawShape(const b3Transform& xf, const b3Shape* shape) const
 		const b3CapsuleShape* capsule = (b3CapsuleShape*)shape;
 		b3Vec3 p1 = xf * capsule->m_centers[0];
 		b3Vec3 p2 = xf * capsule->m_centers[1];
-		b3_debugDraw->DrawPoint(p1, 4.0f, wireColor);
-		b3_debugDraw->DrawPoint(p2, 4.0f, wireColor);
-		b3_debugDraw->DrawSegment(p1, p2, wireColor);
+		b3Draw_draw->DrawPoint(p1, 4.0f, wireColor);
+		b3Draw_draw->DrawPoint(p2, 4.0f, wireColor);
+		b3Draw_draw->DrawSegment(p1, p2, wireColor);
 		break;
 	}
 	case e_hullShape:
@@ -176,7 +176,7 @@ void b3World::DrawShape(const b3Transform& xf, const b3Shape* shape) const
 			b3Vec3 p1 = xf * hull->vertices[edge->origin];
 			b3Vec3 p2 = xf * hull->vertices[twin->origin];
 
-			b3_debugDraw->DrawSegment(p1, p2, wireColor);
+			b3Draw_draw->DrawSegment(p1, p2, wireColor);
 		}
 		break;
 	}
@@ -192,7 +192,7 @@ void b3World::DrawShape(const b3Transform& xf, const b3Shape* shape) const
 			b3Vec3 p2 = xf * mesh->vertices[t->v2];
 			b3Vec3 p3 = xf * mesh->vertices[t->v3];
 
-			b3_debugDraw->DrawTriangle(p1, p2, p3, wireColor);
+			b3Draw_draw->DrawTriangle(p1, p2, p3, wireColor);
 		}
 		break;
 	}
@@ -201,59 +201,4 @@ void b3World::DrawShape(const b3Transform& xf, const b3Shape* shape) const
 		break;
 	}
 	};
-}
-
-void b3World::DrawJoint(const b3Joint* joint) const
-{
-	b3JointType type = joint->GetType();
-
-	switch (type)
-	{
-	case e_mouseJoint:
-	{
-		b3MouseJoint* o = (b3MouseJoint*)joint;
-		o->Draw(b3_debugDraw);
-		break;
-	}
-	case e_springJoint:
-	{
-		b3SpringJoint* o = (b3SpringJoint*)joint;
-		o->Draw(b3_debugDraw);
-		break;
-	}
-	case e_weldJoint:
-	{
-		b3WeldJoint* o = (b3WeldJoint*)joint;
-		o->Draw(b3_debugDraw);
-		break;
-	}
-	case e_revoluteJoint:
-	{
-		b3RevoluteJoint* o = (b3RevoluteJoint*)joint;
-		o->Draw(b3_debugDraw);
-		break;
-	}
-	case e_sphereJoint:
-	{
-		b3SphereJoint* o = (b3SphereJoint*)joint;
-		o->Draw(b3_debugDraw);
-		break;
-	}
-	case e_coneJoint:
-	{
-		b3ConeJoint* o = (b3ConeJoint*)joint;
-		o->Draw(b3_debugDraw);
-		break;
-	}
-	default:
-	{
-		B3_ASSERT(false);
-		break;
-	}
-	}
-}
-
-void b3World::DrawContact(const b3Contact* c) const
-{
-	B3_NOT_USED(c);
-}
+}
\ No newline at end of file
diff --git a/src/bounce/dynamics/joints/cone_joint.cpp b/src/bounce/dynamics/joints/cone_joint.cpp
index a5217a1..94726bd 100644
--- a/src/bounce/dynamics/joints/cone_joint.cpp
+++ b/src/bounce/dynamics/joints/cone_joint.cpp
@@ -346,10 +346,10 @@ void b3ConeJoint::SetConeAngle(float32 angle)
 	}
 }
 
-void b3ConeJoint::Draw(b3Draw* draw) const
+void b3ConeJoint::Draw() const
 {
 	b3Transform xfA = GetFrameA();
-	draw->DrawTransform(xfA);
+	b3Draw_draw->DrawTransform(xfA);
 	b3Transform xfB = GetFrameB();
-	draw->DrawTransform(xfB);
+	b3Draw_draw->DrawTransform(xfB);
 }
\ No newline at end of file
diff --git a/src/bounce/dynamics/joints/mouse_joint.cpp b/src/bounce/dynamics/joints/mouse_joint.cpp
index 1c2d1e6..dc38de1 100644
--- a/src/bounce/dynamics/joints/mouse_joint.cpp
+++ b/src/bounce/dynamics/joints/mouse_joint.cpp
@@ -109,12 +109,12 @@ void b3MouseJoint::SetTarget(const b3Vec3& target)
 	GetBodyB()->SetAwake(true);
 }
 
-void b3MouseJoint::Draw(b3Draw* draw) const 
+void b3MouseJoint::Draw() const 
 {
 	b3Vec3 a = GetAnchorA();
 	b3Vec3 b = GetAnchorB();
 
-	draw->DrawPoint(a, 4.0f, b3Color_green);
-	draw->DrawPoint(b, 4.0f, b3Color_red);
-	draw->DrawSegment(a, b, b3Color_yellow);
+	b3Draw_draw->DrawPoint(a, 4.0f, b3Color_green);
+	b3Draw_draw->DrawPoint(b, 4.0f, b3Color_red);
+	b3Draw_draw->DrawSegment(a, b, b3Color_yellow);
 }
\ No newline at end of file
diff --git a/src/bounce/dynamics/joints/revolute_joint.cpp b/src/bounce/dynamics/joints/revolute_joint.cpp
index 0bacca8..dc9964b 100644
--- a/src/bounce/dynamics/joints/revolute_joint.cpp
+++ b/src/bounce/dynamics/joints/revolute_joint.cpp
@@ -749,10 +749,11 @@ void b3RevoluteJoint::SetMaxMotorTorque(float32 torque)
 	m_maxMotorTorque = torque;
 }
 
-void b3RevoluteJoint::Draw(b3Draw* draw) const
+void b3RevoluteJoint::Draw() const
 {
 	b3Transform xfA = GetFrameA();
+	b3Draw_draw->DrawTransform(xfA);
+	
 	b3Transform xfB = GetFrameB();
-	draw->DrawTransform(xfA);
-	draw->DrawTransform(xfB);
+	b3Draw_draw->DrawTransform(xfB);
 }
\ No newline at end of file
diff --git a/src/bounce/dynamics/joints/sphere_joint.cpp b/src/bounce/dynamics/joints/sphere_joint.cpp
index 7bef9aa..f62ef2f 100644
--- a/src/bounce/dynamics/joints/sphere_joint.cpp
+++ b/src/bounce/dynamics/joints/sphere_joint.cpp
@@ -157,12 +157,13 @@ b3Vec3 b3SphereJoint::GetAnchorB() const
 	return GetBodyB()->GetWorldPoint(m_localAnchorB);
 }
 
-void b3SphereJoint::Draw(b3Draw* draw) const
+void b3SphereJoint::Draw() const
 {
 	b3Vec3 a = GetAnchorA();
-	b3Vec3 b = GetAnchorB();
+	b3Draw_draw->DrawPoint(a, 4.0f, b3Color_red);
 	
-	draw->DrawPoint(a, 4.0f, b3Color_red);
-	draw->DrawPoint(b, 4.0f, b3Color_green);
-	draw->DrawSegment(a, b, b3Color_yellow);
+	b3Vec3 b = GetAnchorB();
+	b3Draw_draw->DrawPoint(b, 4.0f, b3Color_green);
+	
+	b3Draw_draw->DrawSegment(a, b, b3Color_yellow);
 }
diff --git a/src/bounce/dynamics/joints/spring_joint.cpp b/src/bounce/dynamics/joints/spring_joint.cpp
index 1006e49..6aa667e 100644
--- a/src/bounce/dynamics/joints/spring_joint.cpp
+++ b/src/bounce/dynamics/joints/spring_joint.cpp
@@ -252,12 +252,13 @@ bool b3SpringJoint::SolvePositionConstraints(const b3SolverData* data)
 	return b3Abs(C) < B3_LINEAR_SLOP;
 }
 
-void b3SpringJoint::Draw(b3Draw* draw) const 
+void b3SpringJoint::Draw() const 
 {
 	b3Vec3 a = GetBodyA()->GetWorldPoint(m_localAnchorA);
-	b3Vec3 b = GetBodyB()->GetWorldPoint(m_localAnchorB);
+	b3Draw_draw->DrawPoint(a, 4.0f, b3Color_red);
 	
-	draw->DrawPoint(a, 4.0f, b3Color_red);
-	draw->DrawPoint(b, 4.0f, b3Color_green);
-	draw->DrawSegment(a, b, b3Color_yellow);
-}
+	b3Vec3 b = GetBodyB()->GetWorldPoint(m_localAnchorB);
+	b3Draw_draw->DrawPoint(b, 4.0f, b3Color_green);
+
+	b3Draw_draw->DrawSegment(a, b, b3Color_yellow);
+}
\ No newline at end of file
diff --git a/src/bounce/dynamics/joints/weld_joint.cpp b/src/bounce/dynamics/joints/weld_joint.cpp
index 13e7d17..22e15b0 100644
--- a/src/bounce/dynamics/joints/weld_joint.cpp
+++ b/src/bounce/dynamics/joints/weld_joint.cpp
@@ -311,12 +311,13 @@ b3Vec3 b3WeldJoint::GetAnchorB() const
 	return GetBodyB()->GetWorldPoint(m_localAnchorB);
 }
 
-void b3WeldJoint::Draw(b3Draw* draw) const
+void b3WeldJoint::Draw() const
 {
 	b3Vec3 a = GetAnchorA();
+	b3Draw_draw->DrawPoint(a, 4.0f, b3Color_red);
+	
 	b3Vec3 b = GetAnchorB();
-
-	draw->DrawPoint(a, 4.0f, b3Color_red);
-	draw->DrawPoint(b, 4.0f, b3Color_green);
-	draw->DrawSegment(a, b, b3Color_yellow);
-}
+	b3Draw_draw->DrawPoint(b, 4.0f, b3Color_green);
+	
+	b3Draw_draw->DrawSegment(a, b, b3Color_yellow);
+}
\ No newline at end of file
diff --git a/src/bounce/dynamics/rope/rope.cpp b/src/bounce/dynamics/rope/rope.cpp
index d03da4a..6ddec52 100644
--- a/src/bounce/dynamics/rope/rope.cpp
+++ b/src/bounce/dynamics/rope/rope.cpp
@@ -170,12 +170,13 @@ void b3Rope::Initialize(const b3RopeDef& def)
 
 		b3Vec3 d = -b->m_X_J_j.position;
 
-		b3Vec3 w1(1.0f, 0.0f, 0.0f);
-		b3Vec3 w2(0.0f, 1.0f, 0.0f);
-		b3Vec3 w3(0.0f, 0.0f, 1.0f);
-
+		b3Vec3 w1(b3Vec3_x);
 		b3Vec3 v1 = b3Cross(w1, d);
+		
+		b3Vec3 w2(b3Vec3_y);
 		b3Vec3 v2 = b3Cross(w2, d);
+		
+		b3Vec3 w3(b3Vec3_z);
 		b3Vec3 v3 = b3Cross(w3, d);
 		
 		b->m_S[0].w = w1;
@@ -468,7 +469,7 @@ void b3Rope::Step(float32 h)
 	}
 }
 
-void b3Rope::Draw(b3Draw* draw) const
+void b3Rope::Draw() const
 {
 	if (m_count == 0)
 	{
@@ -478,8 +479,8 @@ void b3Rope::Draw(b3Draw* draw) const
 	{
 		b3RopeBody* b = m_links;
 		
-		draw->DrawTransform(b->m_X);
-		draw->DrawSolidSphere(b->m_X.position, 0.2f, b3Color_green);
+		b3Draw_draw->DrawTransform(b->m_X);
+		b3Draw_draw->DrawSolidSphere(b->m_X.position, 0.2f, b3Color_green);
 	}
 
 	for (u32 i = 1; i < m_count; ++i)
@@ -490,13 +491,13 @@ void b3Rope::Draw(b3Draw* draw) const
 		b3Transform X_J = b0->m_X * b3Inverse(b->m_X_i_J);
 		b3Transform X_J0 = b->m_X * b->m_X_J_j;
 		
-		draw->DrawTransform(X_J);
-		draw->DrawPoint(X_J.position, 5.0f, b3Color_red);
+		b3Draw_draw->DrawTransform(X_J);
+		b3Draw_draw->DrawPoint(X_J.position, 5.0f, b3Color_red);
 
-		draw->DrawTransform(X_J0);
-		draw->DrawPoint(X_J0.position, 5.0f, b3Color_red);
+		b3Draw_draw->DrawTransform(X_J0);
+		b3Draw_draw->DrawPoint(X_J0.position, 5.0f, b3Color_red);
 
-		draw->DrawTransform(b->m_X);
-		draw->DrawSolidSphere(b->m_X.position, 0.2f, b3Color_green);
+		b3Draw_draw->DrawTransform(b->m_X);
+		b3Draw_draw->DrawSolidSphere(b->m_X.position, 0.2f, b3Color_green);
 	}
 }
\ No newline at end of file
diff --git a/src/bounce/dynamics/world.cpp b/src/bounce/dynamics/world.cpp
index 50a01f1..27c2972 100644
--- a/src/bounce/dynamics/world.cpp
+++ b/src/bounce/dynamics/world.cpp
@@ -32,7 +32,6 @@ b3World::b3World() : m_bodyBlocks(sizeof(b3Body))
 {
 	b3_allocCalls = 0;
 	b3_maxAllocCalls = 0;
-	m_debugDraw = NULL;
 
 	m_flags = e_clearForcesFlag;
 	m_sleeping = false;