use mvc for the testbed, update almost all tests, bugfixes, improvements, cleanup

Since I started altering the testbed for better maintainability, I prefered to drop this (tested) large change with a single commit. Some changes below:

Put some globals in their correct place,

Now Testbed uses the MVC pattern (Model-View Controller). This way it becomes better to maintain than using no pattern  in my opinion.

Fixed some bugs in the debug draw interface.

Of course, updated almost all tests because of the differences.

Update script.

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