Index: /proiecte/SIMEO/README
===================================================================
--- /proiecte/SIMEO/README	(revision 167)
+++ /proiecte/SIMEO/README	(revision 167)
@@ -0,0 +1,15 @@
+Simeo Project
+=============
+
+HelloWorld
+    - Basic code for Bullet
+    - Technologies: C++, Bullet
+
+SimeoDemo
+    - Proof of concept code
+    - Technologies: C++, Bullet, MPI, Java/CNI
+
+Simeo
+    - The final framework/project, see Simeo/README
+    - There's also a Git repository in here
+    - Technologies: C++, Bullet, MPI, pthreads
Index: /proiecte/SIMEO/Simeo/.git/HEAD
===================================================================
--- /proiecte/SIMEO/Simeo/.git/HEAD	(revision 167)
+++ /proiecte/SIMEO/Simeo/.git/HEAD	(revision 167)
@@ -0,0 +1,1 @@
+ref: refs/heads/master
Index: /proiecte/SIMEO/Simeo/.git/config
===================================================================
--- /proiecte/SIMEO/Simeo/.git/config	(revision 167)
+++ /proiecte/SIMEO/Simeo/.git/config	(revision 167)
@@ -0,0 +1,11 @@
+[core]
+	repositoryformatversion = 0
+	filemode = true
+	bare = false
+	logallrefupdates = true
+[remote "origin"]
+	fetch = +refs/heads/*:refs/remotes/origin/*
+	url = ssh://octav@swarm.cs.pub.ro/home/octav/Simeo.git
+[branch "master"]
+	remote = origin
+	merge = refs/heads/master
Index: /proiecte/SIMEO/Simeo/.git/description
===================================================================
--- /proiecte/SIMEO/Simeo/.git/description	(revision 167)
+++ /proiecte/SIMEO/Simeo/.git/description	(revision 167)
@@ -0,0 +1,1 @@
+Unnamed repository; edit this file 'description' to name the repository.
Index: /proiecte/SIMEO/Simeo/.git/hooks/applypatch-msg.sample
===================================================================
--- /proiecte/SIMEO/Simeo/.git/hooks/applypatch-msg.sample	(revision 167)
+++ /proiecte/SIMEO/Simeo/.git/hooks/applypatch-msg.sample	(revision 167)
@@ -0,0 +1,15 @@
+#!/bin/sh
+#
+# An example hook script to check the commit log message taken by
+# applypatch from an e-mail message.
+#
+# The hook should exit with non-zero status after issuing an
+# appropriate message if it wants to stop the commit.  The hook is
+# allowed to edit the commit message file.
+#
+# To enable this hook, rename this file to "applypatch-msg".
+
+. git-sh-setup
+test -x "$GIT_DIR/hooks/commit-msg" &&
+	exec "$GIT_DIR/hooks/commit-msg" ${1+"$@"}
+:
Index: /proiecte/SIMEO/Simeo/.git/hooks/commit-msg.sample
===================================================================
--- /proiecte/SIMEO/Simeo/.git/hooks/commit-msg.sample	(revision 167)
+++ /proiecte/SIMEO/Simeo/.git/hooks/commit-msg.sample	(revision 167)
@@ -0,0 +1,24 @@
+#!/bin/sh
+#
+# An example hook script to check the commit log message.
+# Called by git-commit with one argument, the name of the file
+# that has the commit message.  The hook should exit with non-zero
+# status after issuing an appropriate message if it wants to stop the
+# commit.  The hook is allowed to edit the commit message file.
+#
+# To enable this hook, rename this file to "commit-msg".
+
+# Uncomment the below to add a Signed-off-by line to the message.
+# Doing this in a hook is a bad idea in general, but the prepare-commit-msg
+# hook is more suited to it.
+#
+# SOB=$(git var GIT_AUTHOR_IDENT | sed -n 's/^\(.*>\).*$/Signed-off-by: \1/p')
+# grep -qs "^$SOB" "$1" || echo "$SOB" >> "$1"
+
+# This example catches duplicate Signed-off-by lines.
+
+test "" = "$(grep '^Signed-off-by: ' "$1" |
+	 sort | uniq -c | sed -e '/^[ 	]*1[ 	]/d')" || {
+	echo >&2 Duplicate Signed-off-by lines.
+	exit 1
+}
Index: /proiecte/SIMEO/Simeo/.git/hooks/post-commit.sample
===================================================================
--- /proiecte/SIMEO/Simeo/.git/hooks/post-commit.sample	(revision 167)
+++ /proiecte/SIMEO/Simeo/.git/hooks/post-commit.sample	(revision 167)
@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# An example hook script that is called after a successful
+# commit is made.
+#
+# To enable this hook, rename this file to "post-commit".
+
+: Nothing
Index: /proiecte/SIMEO/Simeo/.git/hooks/post-receive.sample
===================================================================
--- /proiecte/SIMEO/Simeo/.git/hooks/post-receive.sample	(revision 167)
+++ /proiecte/SIMEO/Simeo/.git/hooks/post-receive.sample	(revision 167)
@@ -0,0 +1,15 @@
+#!/bin/sh
+#
+# An example hook script for the "post-receive" event.
+#
+# The "post-receive" script is run after receive-pack has accepted a pack
+# and the repository has been updated.  It is passed arguments in through
+# stdin in the form
+#  <oldrev> <newrev> <refname>
+# For example:
+#  aa453216d1b3e49e7f6f98441fa56946ddcd6a20 68f7abf4e6f922807889f52bc043ecd31b79f814 refs/heads/master
+#
+# see contrib/hooks/ for an sample, or uncomment the next line and
+# rename the file to "post-receive".
+
+#. /usr/share/doc/git-core/contrib/hooks/post-receive-email
Index: /proiecte/SIMEO/Simeo/.git/hooks/post-update.sample
===================================================================
--- /proiecte/SIMEO/Simeo/.git/hooks/post-update.sample	(revision 167)
+++ /proiecte/SIMEO/Simeo/.git/hooks/post-update.sample	(revision 167)
@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# An example hook script to prepare a packed repository for use over
+# dumb transports.
+#
+# To enable this hook, rename this file to "post-update".
+
+exec git-update-server-info
Index: /proiecte/SIMEO/Simeo/.git/hooks/pre-applypatch.sample
===================================================================
--- /proiecte/SIMEO/Simeo/.git/hooks/pre-applypatch.sample	(revision 167)
+++ /proiecte/SIMEO/Simeo/.git/hooks/pre-applypatch.sample	(revision 167)
@@ -0,0 +1,14 @@
+#!/bin/sh
+#
+# An example hook script to verify what is about to be committed
+# by applypatch from an e-mail message.
+#
+# The hook should exit with non-zero status after issuing an
+# appropriate message if it wants to stop the commit.
+#
+# To enable this hook, rename this file to "pre-applypatch".
+
+. git-sh-setup
+test -x "$GIT_DIR/hooks/pre-commit" &&
+	exec "$GIT_DIR/hooks/pre-commit" ${1+"$@"}
+:
Index: /proiecte/SIMEO/Simeo/.git/hooks/pre-commit.sample
===================================================================
--- /proiecte/SIMEO/Simeo/.git/hooks/pre-commit.sample	(revision 167)
+++ /proiecte/SIMEO/Simeo/.git/hooks/pre-commit.sample	(revision 167)
@@ -0,0 +1,18 @@
+#!/bin/sh
+#
+# An example hook script to verify what is about to be committed.
+# Called by git-commit with no arguments.  The hook should
+# exit with non-zero status after issuing an appropriate message if
+# it wants to stop the commit.
+#
+# To enable this hook, rename this file to "pre-commit".
+
+if git-rev-parse --verify HEAD >/dev/null 2>&1
+then
+	against=HEAD
+else
+	# Initial commit: diff against an empty tree object
+	against=4b825dc642cb6eb9a060e54bf8d69288fbee4904
+fi
+
+exec git diff-index --check --cached $against --
Index: /proiecte/SIMEO/Simeo/.git/hooks/pre-rebase.sample
===================================================================
--- /proiecte/SIMEO/Simeo/.git/hooks/pre-rebase.sample	(revision 167)
+++ /proiecte/SIMEO/Simeo/.git/hooks/pre-rebase.sample	(revision 167)
@@ -0,0 +1,169 @@
+#!/bin/sh
+#
+# Copyright (c) 2006, 2008 Junio C Hamano
+#
+# The "pre-rebase" hook is run just before "git-rebase" starts doing
+# its job, and can prevent the command from running by exiting with
+# non-zero status.
+#
+# The hook is called with the following parameters:
+#
+# $1 -- the upstream the series was forked from.
+# $2 -- the branch being rebased (or empty when rebasing the current branch).
+#
+# This sample shows how to prevent topic branches that are already
+# merged to 'next' branch from getting rebased, because allowing it
+# would result in rebasing already published history.
+
+publish=next
+basebranch="$1"
+if test "$#" = 2
+then
+	topic="refs/heads/$2"
+else
+	topic=`git symbolic-ref HEAD` ||
+	exit 0 ;# we do not interrupt rebasing detached HEAD
+fi
+
+case "$topic" in
+refs/heads/??/*)
+	;;
+*)
+	exit 0 ;# we do not interrupt others.
+	;;
+esac
+
+# Now we are dealing with a topic branch being rebased
+# on top of master.  Is it OK to rebase it?
+
+# Does the topic really exist?
+git show-ref -q "$topic" || {
+	echo >&2 "No such branch $topic"
+	exit 1
+}
+
+# Is topic fully merged to master?
+not_in_master=`git-rev-list --pretty=oneline ^master "$topic"`
+if test -z "$not_in_master"
+then
+	echo >&2 "$topic is fully merged to master; better remove it."
+	exit 1 ;# we could allow it, but there is no point.
+fi
+
+# Is topic ever merged to next?  If so you should not be rebasing it.
+only_next_1=`git-rev-list ^master "^$topic" ${publish} | sort`
+only_next_2=`git-rev-list ^master           ${publish} | sort`
+if test "$only_next_1" = "$only_next_2"
+then
+	not_in_topic=`git-rev-list "^$topic" master`
+	if test -z "$not_in_topic"
+	then
+		echo >&2 "$topic is already up-to-date with master"
+		exit 1 ;# we could allow it, but there is no point.
+	else
+		exit 0
+	fi
+else
+	not_in_next=`git-rev-list --pretty=oneline ^${publish} "$topic"`
+	perl -e '
+		my $topic = $ARGV[0];
+		my $msg = "* $topic has commits already merged to public branch:\n";
+		my (%not_in_next) = map {
+			/^([0-9a-f]+) /;
+			($1 => 1);
+		} split(/\n/, $ARGV[1]);
+		for my $elem (map {
+				/^([0-9a-f]+) (.*)$/;
+				[$1 => $2];
+			} split(/\n/, $ARGV[2])) {
+			if (!exists $not_in_next{$elem->[0]}) {
+				if ($msg) {
+					print STDERR $msg;
+					undef $msg;
+				}
+				print STDERR " $elem->[1]\n";
+			}
+		}
+	' "$topic" "$not_in_next" "$not_in_master"
+	exit 1
+fi
+
+exit 0
+
+################################################################
+
+This sample hook safeguards topic branches that have been
+published from being rewound.
+
+The workflow assumed here is:
+
+ * Once a topic branch forks from "master", "master" is never
+   merged into it again (either directly or indirectly).
+
+ * Once a topic branch is fully cooked and merged into "master",
+   it is deleted.  If you need to build on top of it to correct
+   earlier mistakes, a new topic branch is created by forking at
+   the tip of the "master".  This is not strictly necessary, but
+   it makes it easier to keep your history simple.
+
+ * Whenever you need to test or publish your changes to topic
+   branches, merge them into "next" branch.
+
+The script, being an example, hardcodes the publish branch name
+to be "next", but it is trivial to make it configurable via
+$GIT_DIR/config mechanism.
+
+With this workflow, you would want to know:
+
+(1) ... if a topic branch has ever been merged to "next".  Young
+    topic branches can have stupid mistakes you would rather
+    clean up before publishing, and things that have not been
+    merged into other branches can be easily rebased without
+    affecting other people.  But once it is published, you would
+    not want to rewind it.
+
+(2) ... if a topic branch has been fully merged to "master".
+    Then you can delete it.  More importantly, you should not
+    build on top of it -- other people may already want to
+    change things related to the topic as patches against your
+    "master", so if you need further changes, it is better to
+    fork the topic (perhaps with the same name) afresh from the
+    tip of "master".
+
+Let's look at this example:
+
+		   o---o---o---o---o---o---o---o---o---o "next"
+		  /       /           /           /
+		 /   a---a---b A     /           /
+		/   /               /           /
+	       /   /   c---c---c---c B         /
+	      /   /   /             \         /
+	     /   /   /   b---b C     \       /
+	    /   /   /   /             \     /
+    ---o---o---o---o---o---o---o---o---o---o---o "master"
+
+
+A, B and C are topic branches.
+
+ * A has one fix since it was merged up to "next".
+
+ * B has finished.  It has been fully merged up to "master" and "next",
+   and is ready to be deleted.
+
+ * C has not merged to "next" at all.
+
+We would want to allow C to be rebased, refuse A, and encourage
+B to be deleted.
+
+To compute (1):
+
+	git-rev-list ^master ^topic next
+	git-rev-list ^master        next
+
+	if these match, topic has not merged in next at all.
+
+To compute (2):
+
+	git-rev-list master..topic
+
+	if this is empty, it is fully merged to "master".
Index: /proiecte/SIMEO/Simeo/.git/hooks/prepare-commit-msg.sample
===================================================================
--- /proiecte/SIMEO/Simeo/.git/hooks/prepare-commit-msg.sample	(revision 167)
+++ /proiecte/SIMEO/Simeo/.git/hooks/prepare-commit-msg.sample	(revision 167)
@@ -0,0 +1,36 @@
+#!/bin/sh
+#
+# An example hook script to prepare the commit log message.
+# Called by git-commit with the name of the file that has the
+# commit message, followed by the description of the commit
+# message's source.  The hook's purpose is to edit the commit
+# message file.  If the hook fails with a non-zero status,
+# the commit is aborted.
+#
+# To enable this hook, rename this file to "prepare-commit-msg".
+
+# This hook includes three examples.  The first comments out the
+# "Conflicts:" part of a merge commit.
+#
+# The second includes the output of "git diff --name-status -r"
+# into the message, just before the "git status" output.  It is
+# commented because it doesn't cope with --amend or with squashed
+# commits.
+#
+# The third example adds a Signed-off-by line to the message, that can
+# still be edited.  This is rarely a good idea.
+
+case "$2,$3" in
+  merge,)
+    perl -i.bak -ne 's/^/# /, s/^# #/#/ if /^Conflicts/ .. /#/; print' "$1" ;;
+
+# ,|template,)
+#   perl -i.bak -pe '
+#      print "\n" . `git diff --cached --name-status -r`
+#	 if /^#/ && $first++ == 0' "$1" ;;
+
+  *) ;;
+esac
+
+# SOB=$(git var GIT_AUTHOR_IDENT | sed -n 's/^\(.*>\).*$/Signed-off-by: \1/p')
+# grep -qs "^$SOB" "$1" || echo "$SOB" >> "$1"
Index: /proiecte/SIMEO/Simeo/.git/hooks/update.sample
===================================================================
--- /proiecte/SIMEO/Simeo/.git/hooks/update.sample	(revision 167)
+++ /proiecte/SIMEO/Simeo/.git/hooks/update.sample	(revision 167)
@@ -0,0 +1,118 @@
+#!/bin/sh
+#
+# An example hook script to blocks unannotated tags from entering.
+# Called by git-receive-pack with arguments: refname sha1-old sha1-new
+#
+# To enable this hook, rename this file to "update".
+#
+# Config
+# ------
+# hooks.allowunannotated
+#   This boolean sets whether unannotated tags will be allowed into the
+#   repository.  By default they won't be.
+# hooks.allowdeletetag
+#   This boolean sets whether deleting tags will be allowed in the
+#   repository.  By default they won't be.
+# hooks.allowdeletebranch
+#   This boolean sets whether deleting branches will be allowed in the
+#   repository.  By default they won't be.
+# hooks.denycreatebranch
+#   This boolean sets whether remotely creating branches will be denied
+#   in the repository.  By default this is allowed.
+#
+
+# --- Command line
+refname="$1"
+oldrev="$2"
+newrev="$3"
+
+# --- Safety check
+if [ -z "$GIT_DIR" ]; then
+	echo "Don't run this script from the command line." >&2
+	echo " (if you want, you could supply GIT_DIR then run" >&2
+	echo "  $0 <ref> <oldrev> <newrev>)" >&2
+	exit 1
+fi
+
+if [ -z "$refname" -o -z "$oldrev" -o -z "$newrev" ]; then
+	echo "Usage: $0 <ref> <oldrev> <newrev>" >&2
+	exit 1
+fi
+
+# --- Config
+allowunannotated=$(git config --bool hooks.allowunannotated)
+allowdeletebranch=$(git config --bool hooks.allowdeletebranch)
+denycreatebranch=$(git config --bool hooks.denycreatebranch)
+allowdeletetag=$(git config --bool hooks.allowdeletetag)
+
+# check for no description
+projectdesc=$(sed -e '1q' "$GIT_DIR/description")
+case "$projectdesc" in
+"Unnamed repository"* | "")
+	echo "*** Project description file hasn't been set" >&2
+	exit 1
+	;;
+esac
+
+# --- Check types
+# if $newrev is 0000...0000, it's a commit to delete a ref.
+zero="0000000000000000000000000000000000000000"
+if [ "$newrev" = "$zero" ]; then
+	newrev_type=delete
+else
+	newrev_type=$(git-cat-file -t $newrev)
+fi
+
+case "$refname","$newrev_type" in
+	refs/tags/*,commit)
+		# un-annotated tag
+		short_refname=${refname##refs/tags/}
+		if [ "$allowunannotated" != "true" ]; then
+			echo "*** The un-annotated tag, $short_refname, is not allowed in this repository" >&2
+			echo "*** Use 'git tag [ -a | -s ]' for tags you want to propagate." >&2
+			exit 1
+		fi
+		;;
+	refs/tags/*,delete)
+		# delete tag
+		if [ "$allowdeletetag" != "true" ]; then
+			echo "*** Deleting a tag is not allowed in this repository" >&2
+			exit 1
+		fi
+		;;
+	refs/tags/*,tag)
+		# annotated tag
+		;;
+	refs/heads/*,commit)
+		# branch
+		if [ "$oldrev" = "$zero" -a "$denycreatebranch" = "true" ]; then
+			echo "*** Creating a branch is not allowed in this repository" >&2
+			exit 1
+		fi
+		;;
+	refs/heads/*,delete)
+		# delete branch
+		if [ "$allowdeletebranch" != "true" ]; then
+			echo "*** Deleting a branch is not allowed in this repository" >&2
+			exit 1
+		fi
+		;;
+	refs/remotes/*,commit)
+		# tracking branch
+		;;
+	refs/remotes/*,delete)
+		# delete tracking branch
+		if [ "$allowdeletebranch" != "true" ]; then
+			echo "*** Deleting a tracking branch is not allowed in this repository" >&2
+			exit 1
+		fi
+		;;
+	*)
+		# Anything else (is there anything else?)
+		echo "*** Update hook: unknown type of update to ref $refname of type $newrev_type" >&2
+		exit 1
+		;;
+esac
+
+# --- Finished
+exit 0
Index: /proiecte/SIMEO/Simeo/.git/info/exclude
===================================================================
--- /proiecte/SIMEO/Simeo/.git/info/exclude	(revision 167)
+++ /proiecte/SIMEO/Simeo/.git/info/exclude	(revision 167)
@@ -0,0 +1,6 @@
+# git-ls-files --others --exclude-from=.git/info/exclude
+# Lines that start with '#' are comments.
+# For a project mostly in C, the following would be a good set of
+# exclude patterns (uncomment them if you want to use them):
+# *.[oa]
+# *~
Index: /proiecte/SIMEO/Simeo/.git/logs/HEAD
===================================================================
--- /proiecte/SIMEO/Simeo/.git/logs/HEAD	(revision 167)
+++ /proiecte/SIMEO/Simeo/.git/logs/HEAD	(revision 167)
@@ -0,0 +1,1 @@
+0000000000000000000000000000000000000000 8667ac0a926cbb27923c634b772999dd4a688083 Octavian Voicu <octavian.voicu@gmail.com> 1263915032 +0200	clone: from ssh://octav@swarm.cs.pub.ro/home/octav/Simeo.git
Index: /proiecte/SIMEO/Simeo/.git/logs/refs/heads/master
===================================================================
--- /proiecte/SIMEO/Simeo/.git/logs/refs/heads/master	(revision 167)
+++ /proiecte/SIMEO/Simeo/.git/logs/refs/heads/master	(revision 167)
@@ -0,0 +1,1 @@
+0000000000000000000000000000000000000000 8667ac0a926cbb27923c634b772999dd4a688083 Octavian Voicu <octavian.voicu@gmail.com> 1263915032 +0200	clone: from ssh://octav@swarm.cs.pub.ro/home/octav/Simeo.git
Index: /proiecte/SIMEO/Simeo/.git/logs/refs/remotes/origin/HEAD
===================================================================
--- /proiecte/SIMEO/Simeo/.git/logs/refs/remotes/origin/HEAD	(revision 167)
+++ /proiecte/SIMEO/Simeo/.git/logs/refs/remotes/origin/HEAD	(revision 167)
@@ -0,0 +1,1 @@
+0000000000000000000000000000000000000000 8667ac0a926cbb27923c634b772999dd4a688083 Octavian Voicu <octavian.voicu@gmail.com> 1263915032 +0200	clone: from ssh://octav@swarm.cs.pub.ro/home/octav/Simeo.git
Index: /proiecte/SIMEO/Simeo/.git/packed-refs
===================================================================
--- /proiecte/SIMEO/Simeo/.git/packed-refs	(revision 167)
+++ /proiecte/SIMEO/Simeo/.git/packed-refs	(revision 167)
@@ -0,0 +1,3 @@
+# pack-refs with: peeled 
+39093954a1f340a4a8c4ad84f4385abe4bdbeca0 refs/remotes/origin/remotegui
+8667ac0a926cbb27923c634b772999dd4a688083 refs/remotes/origin/master
Index: /proiecte/SIMEO/Simeo/.git/refs/heads/master
===================================================================
--- /proiecte/SIMEO/Simeo/.git/refs/heads/master	(revision 167)
+++ /proiecte/SIMEO/Simeo/.git/refs/heads/master	(revision 167)
@@ -0,0 +1,1 @@
+8667ac0a926cbb27923c634b772999dd4a688083
Index: /proiecte/SIMEO/Simeo/.git/refs/remotes/origin/HEAD
===================================================================
--- /proiecte/SIMEO/Simeo/.git/refs/remotes/origin/HEAD	(revision 167)
+++ /proiecte/SIMEO/Simeo/.git/refs/remotes/origin/HEAD	(revision 167)
@@ -0,0 +1,1 @@
+ref: refs/remotes/origin/master
Index: /proiecte/SIMEO/Simeo/.gitignore
===================================================================
--- /proiecte/SIMEO/Simeo/.gitignore	(revision 167)
+++ /proiecte/SIMEO/Simeo/.gitignore	(revision 167)
@@ -0,0 +1,2 @@
+.kdev4
+build
Index: /proiecte/SIMEO/Simeo/.kdev_include_paths
===================================================================
--- /proiecte/SIMEO/Simeo/.kdev_include_paths	(revision 167)
+++ /proiecte/SIMEO/Simeo/.kdev_include_paths	(revision 167)
@@ -0,0 +1,1 @@
+/usr/lib/openmpi/include/
Index: /proiecte/SIMEO/Simeo/CMakeLists.txt
===================================================================
--- /proiecte/SIMEO/Simeo/CMakeLists.txt	(revision 167)
+++ /proiecte/SIMEO/Simeo/CMakeLists.txt	(revision 167)
@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 2.6)
+
+project(simeo)
+
+if (NOT BULLET_DIR)
+	message(FATAL_ERROR "BULLET_DIR not defined, run `cmake -D BULLET_DIR=/path/to/bullet-dev ..` from the build directory.")
+endif (NOT BULLET_DIR)
+
+include_directories(
+	${BULLET_DIR}/include
+)
+
+link_directories(
+	${BULLET_DIR}/lib
+)
+
+add_subdirectory(src)
Index: /proiecte/SIMEO/Simeo/README
===================================================================
--- /proiecte/SIMEO/Simeo/README	(revision 167)
+++ /proiecte/SIMEO/Simeo/README	(revision 167)
@@ -0,0 +1,28 @@
+Simeo
+=====
+
+More info at:
+https://ncit-cluster.grid.pub.ro/trac/PP2009/wiki/SIMEO
+
+
+Building
+--------
+
+mkdir build
+cd build
+cmake -D CMAKE_C_COMPILER=mpicc -D CMAKE_CXX_COMPILER=mpic++ -D BULLET_DIR=/path/to/bullet-dev/ ..
+make
+
+
+Running
+-------
+
+SimeoEngine with LocalGui:
+mpirun -n 21 build/src/SimeoEngine/SimeoEngine
+
+SimeoEngine with RemoteGui:
+mpirun -n 21 build/src/SimeoEngine/SimeoEngineNoGui <port>
+
+SimeoGui (client for RemoteGui):
+build/src/SimeoGui/SimeoGui <host> <port>
+
Index: /proiecte/SIMEO/Simeo/Simeo.kdev4
===================================================================
--- /proiecte/SIMEO/Simeo/Simeo.kdev4	(revision 167)
+++ /proiecte/SIMEO/Simeo/Simeo.kdev4	(revision 167)
@@ -0,0 +1,39 @@
+[Project]
+Name=Simeo
+Manager=KDevCMakeManager
+VersionControl=kdevgit
+
+[Launch]
+Launch Configurations=Launch Configuration 0,Launch Configuration 1
+
+[Launch][Launch Configuration 0]
+Configured Launch Modes=execute
+Configured Launchers=nativeAppLauncher
+Name=SimeoEngine
+Type=Native Application
+
+[Launch][Launch Configuration 0][Data]
+Arguments=
+Dependencies=@Variant(\x00\x00\x00\t\x00\x00\x00\x00\x01\x00\x00\x00\x0b\x00\x00\x00\x00\x03\x00\x00\x00\n\x00S\x00i\x00m\x00e\x00o\x00\x00\x00\x06\x00s\x00r\x00c\x00\x00\x00\x16\x00S\x00i\x00m\x00e\x00o\x00E\x00n\x00g\x00i\x00n\x00e)
+Dependency Action=Build
+EnvironmentGroup=
+Project Target=Simeo,src,SimeoEngine,SimeoEngine
+Use External Terminal=false
+Working Directory=
+isExecutable=false
+
+[Launch][Launch Configuration 1]
+Configured Launch Modes=execute
+Configured Launchers=nativeAppLauncher
+Name=SimeoGui
+Type=Native Application
+
+[Launch][Launch Configuration 1][Data]
+Arguments=
+Dependencies=@Variant(\x00\x00\x00\t\x00\x00\x00\x00\x01\x00\x00\x00\x0b\x00\x00\x00\x00\x03\x00\x00\x00\n\x00S\x00i\x00m\x00e\x00o\x00\x00\x00\x06\x00s\x00r\x00c\x00\x00\x00\x10\x00S\x00i\x00m\x00e\x00o\x00G\x00u\x00i)
+Dependency Action=Build
+EnvironmentGroup=
+Project Target=Simeo,src,SimeoGui,SimeoGui
+Use External Terminal=false
+Working Directory=
+isExecutable=false
Index: /proiecte/SIMEO/Simeo/src/CMakeLists.txt
===================================================================
--- /proiecte/SIMEO/Simeo/src/CMakeLists.txt	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/CMakeLists.txt	(revision 167)
@@ -0,0 +1,3 @@
+
+add_subdirectory(SimeoGui)
+add_subdirectory(SimeoEngine)
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/Actuator.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/Actuator.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/Actuator.cpp	(revision 167)
@@ -0,0 +1,30 @@
+#include <stdio.h>
+#include "Actuator.h"
+
+Actuator::Actuator(Channel *chan, channelData *data)
+: X(chan)
+{
+	m_data = new channelData(*data);
+}
+
+Actuator::~Actuator()
+{
+	delete m_data;
+}
+
+channelData *Actuator::getData()
+{
+	return m_data;
+}
+
+void Actuator::setTargetAngle(float angle)
+{
+	m_data->angle = angle;
+}
+
+void Actuator::update()
+{
+	float angle;
+	angle = m_data->angle;
+	m_chan->write(&angle, MPI_FLOAT, 1);
+}
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/Actuator.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/Actuator.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/Actuator.h	(revision 167)
@@ -0,0 +1,23 @@
+#ifndef ACTUATOR_H
+#define ACTUATOR_H
+
+#include "Channel.h"
+#include "X.h"
+#include "btBulletDynamicsCommon.h"
+
+class Actuator : public X
+{
+private:
+	channelData *m_data;
+
+public:
+	Actuator(Channel *chan, channelData *data);
+	~Actuator();
+
+	void update();
+
+	channelData *getData();
+	void setTargetAngle(float angle);
+};
+
+#endif //ACTUATOR_H
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/ActuatorProvider.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/ActuatorProvider.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/ActuatorProvider.cpp	(revision 167)
@@ -0,0 +1,55 @@
+#include <stdio.h>
+#include "ActuatorProvider.h"
+
+
+ActuatorProvider::ActuatorProvider(Channel *chan, btHingeConstraint *joint, int orient)
+: XProvider(chan)
+{
+	m_joint = joint;
+	m_orient = orient;
+}
+
+ActuatorProvider::~ActuatorProvider()
+{
+}
+
+btHingeConstraint *ActuatorProvider::getConstraint()
+{
+	return m_joint;
+}
+
+int ActuatorProvider::getOrient()
+{
+	return m_orient;
+}
+
+void ActuatorProvider::updatePost()
+{
+	float angle;
+	float speed = 200.0;
+	float force = 1000.0;
+	m_chan->read(&angle, MPI_FLOAT, 1);
+	m_joint->enableAngularMotor(true, computeVelocity(m_joint->getHingeAngle(), btScalar(angle)) * speed, btScalar(force));
+}
+
+void ActuatorProvider::packData(channelData *data, int id)
+{
+	data->angle = m_joint->getHingeAngle();
+	data->maxAngle = m_joint->getUpperLimit();
+	data->minAngle = m_joint->getLowerLimit();
+	data->orient = m_orient;
+	data->type = ACTUATOR;
+}
+
+btScalar ActuatorProvider::computeVelocity(btScalar currentAngle, btScalar targetAngle) {
+
+	btScalar deltaAngle = targetAngle - currentAngle;
+
+	if(deltaAngle < 0)
+		deltaAngle += 2 * M_PI;
+
+	if(deltaAngle > M_PI)
+		deltaAngle -= 2 * M_PI;
+
+	return deltaAngle;
+}
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/ActuatorProvider.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/ActuatorProvider.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/ActuatorProvider.h	(revision 167)
@@ -0,0 +1,27 @@
+#ifndef ACTUATORPROVIDER_H
+#define ACTUATORPROVIDER_H
+
+#include "Channel.h"
+#include "XProvider.h"
+#include "btBulletDynamicsCommon.h"
+
+class ActuatorProvider : public XProvider
+{
+private:
+	btHingeConstraint *m_joint;
+	int m_orient;
+	btScalar computeVelocity(btScalar currentAngle, btScalar targetAngle);
+
+public:
+	ActuatorProvider(Channel *chan, btHingeConstraint *joint, int orient);
+	~ActuatorProvider();
+
+	btHingeConstraint *getConstraint();
+	int getOrient();
+
+	void updatePost();
+
+	void packData(channelData *data, int id);
+};
+
+#endif //ACTUATORPROVIDER_H
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/Agent.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/Agent.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/Agent.cpp	(revision 167)
@@ -0,0 +1,54 @@
+#include <stdio.h>
+#include "Agent.h"
+
+
+Agent::Agent(vector<Sensor *> sensorList, vector<Actuator *> actuatorList, vector<CommChannel *> channelList)
+{
+	m_sensorList = sensorList;
+	m_actuatorList = actuatorList;
+	m_channelList = channelList;
+}
+
+Agent::~Agent()
+{
+	int i;
+
+	for (i = 0; i < (int) m_sensorList.size(); i++) {
+		delete m_sensorList[i];
+	}
+
+	for (i = 0; i < (int) m_actuatorList.size(); i++) {
+		delete m_actuatorList[i];
+	}
+
+	for (i = 0; i < (int) m_channelList.size(); i++) {
+		delete m_channelList[i];
+	}
+}
+
+void Agent::run()
+{
+	int i;
+	int rank, stop = 0;
+	MPI_Status status;
+
+	MPI_Comm_rank(MPI_COMM_WORLD, &rank);
+
+	while (!stop) {
+		MPI_Recv(&stop, 1, MPI_INT, MASTER_ID, SYNC_MSG, MPI_COMM_WORLD, &status);
+
+		for (i = 0; i < (int) m_sensorList.size(); i++) {
+			Sensor *x = m_sensorList[i];
+			x->update();
+		}
+
+		step();
+
+		for (i = 0; i < (int) m_actuatorList.size(); i++) {
+			Actuator *x = m_actuatorList[i];
+			x->update();
+		}
+
+		MPI_Send(&stop, 1, MPI_INT, MASTER_ID, SYNC_MSG, MPI_COMM_WORLD);
+	}
+}
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/Agent.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/Agent.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/Agent.h	(revision 167)
@@ -0,0 +1,29 @@
+#ifndef AGENT_H
+#define AGENT_H
+
+#include <vector>
+#include "X.h"
+#include "Sensor.h"
+#include "Actuator.h"
+#include "CommChannel.h"
+
+using namespace std;
+
+class Agent
+{
+protected:
+	vector<Sensor *> m_sensorList;
+	vector<Actuator *> m_actuatorList;
+	vector<CommChannel *> m_channelList;
+
+public:
+	Agent(vector<Sensor *> sensorList, vector<Actuator *> actuatorList, vector<CommChannel *> channelList);
+	~Agent();
+
+	virtual void step() { };
+	virtual void run();
+
+};
+
+
+#endif //AGENT_H
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/BulletObject.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/BulletObject.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/BulletObject.cpp	(revision 167)
@@ -0,0 +1,49 @@
+#include <stdio.h>
+#include "BulletObject.h"
+
+BulletObject::BulletObject(Environment *bullet)
+{
+	m_bullet = bullet;
+}
+
+
+btRigidBody* BulletObject::localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape) {
+	bool isDynamic = (mass != 0.f);
+
+	btVector3 localInertia(0,0,0);
+	if (isDynamic)
+		shape->calculateLocalInertia(mass,localInertia);
+
+	btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
+	btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
+	btRigidBody* body = new btRigidBody(rbInfo);
+
+	m_bullet->getDynamicsWorld()->addRigidBody(body);
+
+	return body;
+}
+
+btRigidBody* BulletObject::createBulletObject(btCollisionShape* colShape, btVector3 position, btScalar mass)
+{
+	m_bullet->getCollisionShapes().push_back(colShape);
+
+	btTransform startTransform;
+	startTransform.setIdentity();
+	startTransform.setOrigin(SCALING*position);
+
+	btRigidBody *body = localCreateRigidBody(mass, startTransform, colShape);
+	body->setActivationState(ISLAND_SLEEPING);
+
+	return body;
+}
+
+
+btRigidBody* BulletObject::createBulletObject(btCollisionShape* colShape, btTransform transform, btScalar mass)
+{
+	m_bullet->getCollisionShapes().push_back(colShape);
+
+	btRigidBody *body = localCreateRigidBody(mass, transform, colShape);
+	body->setActivationState(ISLAND_SLEEPING);
+
+	return body;
+}
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/BulletObject.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/BulletObject.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/BulletObject.h	(revision 167)
@@ -0,0 +1,29 @@
+#ifndef BULLETOBJECT_H
+#define BULLETOBJECT_H
+
+#include "GlutStuff.h"
+#include "btBulletDynamicsCommon.h"
+#include "GLDebugDrawer.h"
+#include "Environment.h"
+
+#include "constants.h"
+
+class BulletObject
+{
+
+private:
+	Environment *m_bullet;
+
+public:
+
+	BulletObject(Environment *bullet);
+	~BulletObject() { };
+
+	btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape);
+
+	btRigidBody* createBulletObject(btCollisionShape* colShape, btVector3 position, btScalar mass);
+
+	btRigidBody* createBulletObject(btCollisionShape* colShape, btTransform transform, btScalar mass);
+};
+
+#endif //BULLETOBJECT_H
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/CMakeLists.txt
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/CMakeLists.txt	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/CMakeLists.txt	(revision 167)
@@ -0,0 +1,73 @@
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -g")
+
+link_libraries(
+	BulletDynamics
+	BulletCollision
+	LinearMath
+	glut
+	pthread
+)
+
+add_executable(SimeoEngine
+	Channel.cpp
+	MPIChannel.cpp
+
+	X.cpp
+	Sensor.cpp
+	Actuator.cpp
+	CommChannel.cpp
+
+	XProvider.cpp
+	SensorProvider.cpp
+	ActuatorProvider.cpp
+	CommChannelProvider.cpp
+
+	Environment.cpp
+	BulletObject.cpp
+
+	Agent.cpp
+	SimpleAgent.cpp
+
+	Master.cpp
+
+	Gui.cpp
+	LocalGui.cpp
+
+	GlutStuff.cpp
+	GLDebugFont.cpp
+	GLDebugDrawer.cpp
+	GL_ShapeDrawer.cpp
+	GlutDemoApplication.cpp
+
+	main.cpp
+)
+
+add_executable(SimeoEngineNoGui
+	Channel.cpp
+	MPIChannel.cpp
+
+	X.cpp
+	Sensor.cpp
+	Actuator.cpp
+	CommChannel.cpp
+
+	XProvider.cpp
+	SensorProvider.cpp
+	ActuatorProvider.cpp
+	CommChannelProvider.cpp
+
+	Environment.cpp
+	BulletObject.cpp
+
+	Agent.cpp
+	SimpleAgent.cpp
+
+	Master.cpp
+
+	Gui.cpp
+	RemoteGui.cpp
+
+	main.cpp
+)
+
+set_target_properties(SimeoEngineNoGui PROPERTIES COMPILE_FLAGS "-D USE_REMOTE_GUI=1")
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/Channel.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/Channel.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/Channel.cpp	(revision 167)
@@ -0,0 +1,24 @@
+#include "Channel.h"
+
+Channel::Channel()
+{
+}
+
+Channel::~Channel()
+{
+}
+
+int Channel::read(void *buf, channel_datatype_t datatype, size_t count)
+{
+	return 0;
+}
+
+int Channel::write(const void *buf, channel_datatype_t datatype, size_t count)
+{
+	return 0;
+}
+
+int Channel::available()
+{
+	return 0;
+}
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/Channel.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/Channel.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/Channel.h	(revision 167)
@@ -0,0 +1,34 @@
+#ifndef CHANNEL_H
+#define CHANNEL_H
+
+#include <mpi.h>
+#include <sys/types.h>
+#include "constants.h"
+
+typedef struct {
+	int tag;
+	int type;
+	int orient;
+	int dest;
+	float minAngle;
+	float maxAngle;
+	float angle;
+} channelData;
+
+typedef MPI_Datatype channel_datatype_t;
+
+class Channel
+{
+
+public:
+	Channel();
+	~Channel();
+
+	virtual int read(void *buf, channel_datatype_t datatype, size_t count);
+	virtual int write(const void *buf, channel_datatype_t datatype, size_t count);
+	virtual int available();
+
+};
+
+#endif // CHANNEL_H
+
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/CommChannel.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/CommChannel.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/CommChannel.cpp	(revision 167)
@@ -0,0 +1,21 @@
+#include <stdio.h>
+#include "CommChannel.h"
+
+CommChannel::CommChannel(Channel *chan, int orient)
+: X(chan),
+m_orient(orient)
+{
+}
+
+CommChannel::~CommChannel()
+{
+}
+
+int CommChannel::getOrient()
+{
+	return m_orient;
+}
+
+void CommChannel::update()
+{
+}
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/CommChannel.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/CommChannel.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/CommChannel.h	(revision 167)
@@ -0,0 +1,21 @@
+#ifndef COMMCHANNEL_H
+#define COMMCHANNEL_H
+
+#include "X.h"
+
+
+class CommChannel : public X
+{
+private:
+	int m_orient;
+
+public:
+	CommChannel(Channel *chan, int orient);
+	~CommChannel();
+
+	void update();
+
+	int getOrient();
+};
+
+#endif//ACTUATOR_H
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/CommChannelProvider.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/CommChannelProvider.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/CommChannelProvider.cpp	(revision 167)
@@ -0,0 +1,30 @@
+#include <stdio.h>
+#include "CommChannelProvider.h"
+
+CommChannelProvider::CommChannelProvider(Channel *chan, int peer1, int peer2, int dir)
+: XProvider(chan),
+m_peer1(peer1),
+m_peer2(peer2),
+m_dir(dir)
+{
+}
+
+CommChannelProvider::~CommChannelProvider()
+{
+}
+
+int CommChannelProvider::getPeer()
+{
+	return m_peer2;
+}
+
+void CommChannelProvider::packData(channelData *data, int id)
+{
+	if(m_dir == UP)
+		data->orient = (id == m_peer1) ? UP : DOWN;
+	if(m_dir == LEFT)
+		data->orient = (id == m_peer1) ? LEFT : RIGHT;
+
+	data->type = COMM_CHANNEL;
+	data->dest = (id == m_peer1) ? m_peer2 : m_peer1;
+}
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/CommChannelProvider.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/CommChannelProvider.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/CommChannelProvider.h	(revision 167)
@@ -0,0 +1,24 @@
+#ifndef COMMCHANNELPROVIDER_H
+#define COMMCHANNELPROVIDER_H
+
+#include <vector>
+
+#include "Channel.h"
+#include "XProvider.h"
+
+class CommChannelProvider : public XProvider
+{
+private:
+	int m_peer1, m_peer2, m_dir;
+
+public:
+	CommChannelProvider(Channel *chan, int peer1, int peer2, int dir);
+
+	~CommChannelProvider();
+
+	int getPeer();
+
+	void packData(channelData *data, int dir);
+};
+
+#endif //COMMCHANNELPROVIDER_H
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/Environment.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/Environment.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/Environment.cpp	(revision 167)
@@ -0,0 +1,208 @@
+#include <stdio.h>
+#include "Environment.h"
+#include "BulletObject.h"
+
+Environment::Environment()
+: m_dynamicsWorld(0)
+{
+}
+
+/** Initialize the environment of the virtual world.
+	Create de ground and add it as an object to the virtual world
+*/
+void Environment::setupEnvironment()
+{
+	btScalar mass(0.);
+	bool isDynamic = (mass != 0.f);
+	btVector3 localInertia(0,0,0);
+	btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
+
+	m_collisionConfiguration = new btDefaultCollisionConfiguration();
+	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+	m_broadphase = new btDbvtBroadphase();
+	m_solver = sol;
+
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
+	m_dynamicsWorld->setGravity(btVector3(0,-10,0));
+
+	groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+	m_collisionShapes.push_back(groundShape);
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0,-50,0));
+
+	//rigidbody is dynamic if and only if mass is non zero, otherwise static
+	if (isDynamic)
+		groundShape->calculateLocalInertia(mass, localInertia);
+
+	//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+	btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
+	btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
+	btRigidBody* body = new btRigidBody(rbInfo);
+	//add the body to the dynamics world
+	m_dynamicsWorld->addRigidBody(body);
+//	m_dynamicsWorld->setDebugDrawer(new GLDebugDrawer());
+}
+
+
+void Environment::addAgent(Agent *agent)
+{
+}
+
+btDynamicsWorld* Environment::getDynamicsWorld()
+{
+	return m_dynamicsWorld;
+}
+
+btAlignedObjectArray<btCollisionShape*>	Environment::getCollisionShapes()
+{
+	return m_collisionShapes;
+}
+
+/// Simulation 2D
+void Environment::createMagicCarpet(int n, int m) {
+	int i, j, base = m_dynamicsWorld->getNumCollisionObjects();
+	btCollisionShape *shape;
+	btRigidBody *body, *body1, *body2;
+	btVector3 pivotA, pivotB, axisA, axisB;
+	btHingeConstraint* hinge;
+	btTransform transform;
+	btTransform frameA, frameB;
+
+	BulletObject *object = new BulletObject(this);
+
+	for(i = 0; i < n; i++) {
+		for(j = 0; j < m; j++) {
+			transform = btTransform();
+			transform.setIdentity();
+			transform.setOrigin(SCALING*btVector3(i*1.0,HEIGHT,j*1.0));
+			transform.setRotation(btQuaternion(0, 0, 0));
+
+			shape = new btSphereShape(SCALING*btScalar(0.1));
+			body = object->createBulletObject(shape, transform, (!i && !j) ? 1.f : 1.f);
+
+			btAlignedObjectArray<int> tmp;
+			tmp.resize(4);
+			m_matrix.push_back(tmp);
+		}
+	}
+
+	for(i = 0; i < n; i++) {
+		for(j = 0; j < m; j++) {
+			if (i > 0) {
+				transform = btTransform();
+				transform.setIdentity();
+				transform.setOrigin(SCALING*btVector3(i*1.0-0.5,HEIGHT,j*1.0));
+				transform.setRotation(btQuaternion(0, 0, -M_PI/2));
+
+				shape = new btCapsuleShape(SCALING*btScalar(0.05),SCALING*btScalar(0.6));
+				body = object->createBulletObject(shape, transform, 1.f);
+
+				body1 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + (i - 1) * m + j]);
+				body2 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + i * m + j]);
+
+				frameA = btTransform();
+				frameA.setIdentity();
+				frameA.setOrigin(SCALING*btVector3(0, -0.5, 0));
+				frameA.setRotation(btQuaternion(0, 0, M_PI/2));
+				frameB = btTransform();
+				frameB.setIdentity();
+				frameB.setOrigin(SCALING*btVector3(0, 0, 0));
+				frameB.setRotation(btQuaternion(0, 0, 0));
+				hinge = new btHingeConstraint(*body, *body1, frameA, frameB);
+				hinge->setLimit(btScalar(- M_PI/2), btScalar(M_PI/2));
+				hinge->setDbgDrawSize(btScalar(1.f));
+				m_matrix[(i - 1) * m + j][RIGHT] = m_joints.size();
+				m_joints.push_back(hinge);
+				m_dynamicsWorld->addConstraint(hinge, true);
+
+				frameA = btTransform();
+				frameA.setIdentity();
+				frameA.setOrigin(SCALING*btVector3(0, 0.5, 0));
+				frameA.setRotation(btQuaternion(0, 0, M_PI/2));
+				frameB = btTransform();
+				frameB.setIdentity();
+				frameB.setOrigin(SCALING*btVector3(0, 0, 0));
+				frameB.setRotation(btQuaternion(0, 0, 0));
+				hinge = new btHingeConstraint(*body, *body2, frameA, frameB);
+				hinge->setLimit(btScalar(- M_PI/2), btScalar(M_PI/2));
+				hinge->setDbgDrawSize(btScalar(1.f));
+				m_matrix[i * m + j][LEFT] = m_joints.size();
+				m_joints.push_back(hinge);
+				m_dynamicsWorld->addConstraint(hinge, true);
+			}
+			if (j > 0) {
+				transform = btTransform();
+				transform.setIdentity();
+				transform.setOrigin(SCALING*btVector3(i*1.0,HEIGHT,j*1.0-0.5));
+				transform.setRotation(btQuaternion(-M_PI/2, 0, -M_PI/2));
+
+				shape = new btCapsuleShape(SCALING*btScalar(0.05),SCALING*btScalar(0.6));
+				body = object->createBulletObject(shape, transform, 1.f);
+
+				body1 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + i * m + (j - 1)]);
+				body2 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + i * m + j]);
+
+				frameA = btTransform();
+				frameA.setIdentity();
+				frameA.setOrigin(SCALING*btVector3(0, -0.5, 0));
+				frameA.setRotation(btQuaternion(0, 0, 0));
+				frameB = btTransform();
+				frameB.setIdentity();
+				frameB.setOrigin(SCALING*btVector3(0, 0, 0));
+				frameB.setRotation(btQuaternion(-M_PI/2, 0, -M_PI/2));
+				hinge = new btHingeConstraint(*body, *body1, frameA, frameB);
+				hinge->setLimit(btScalar(- M_PI/2), btScalar(M_PI/2));
+				hinge->setDbgDrawSize(btScalar(1.f));
+				m_matrix[i * m + (j - 1)][DOWN] = m_joints.size();
+				m_joints.push_back(hinge);
+				m_dynamicsWorld->addConstraint(hinge, true);
+
+				frameA = btTransform();
+				frameA.setIdentity();
+				frameA.setOrigin(SCALING*btVector3(0, 0.5, 0));
+				frameA.setRotation(btQuaternion(0, 0, 0));
+				frameB = btTransform();
+				frameB.setIdentity();
+				frameB.setOrigin(SCALING*btVector3(0, 0, 0));
+				frameB.setRotation(btQuaternion(-M_PI/2, 0, -M_PI/2));
+				hinge = new btHingeConstraint(*body, *body2, frameA, frameB);
+				hinge->setLimit(btScalar(- M_PI/2), btScalar(M_PI/2));
+				hinge->setDbgDrawSize(btScalar(1.f));
+				m_matrix[i * m + j][UP] = m_joints.size();
+				m_joints.push_back(hinge);
+				m_dynamicsWorld->addConstraint(hinge, true);
+			}
+		}
+	}
+}
+
+
+/** Remove all objects from the virtual world */
+void Environment::exitEnvironment()
+{
+	int i;
+	for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
+	{
+		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody* body = btRigidBody::upcast(obj);
+		if (body && body->getMotionState())
+		{
+			delete body->getMotionState();
+		}
+		m_dynamicsWorld->removeCollisionObject( obj );
+		delete obj;
+	}
+
+	//delete collision shapes
+	for (int j=0;j<m_collisionShapes.size();j++)
+	{
+		btCollisionShape* shape = m_collisionShapes[j];
+		delete shape;
+	}
+
+	delete m_dynamicsWorld;
+	delete m_solver;
+	delete m_broadphase;
+	delete m_dispatcher;
+	delete m_collisionConfiguration;
+}
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/Environment.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/Environment.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/Environment.h	(revision 167)
@@ -0,0 +1,66 @@
+#ifndef ENVIRONMENT_H
+#define ENVIRONMENT_H
+
+#include "constants.h"
+#include "Agent.h"
+#include <vector>
+
+#include "btBulletDynamicsCommon.h"
+
+#include "GlutStuff.h"
+#include "GLDebugDrawer.h"
+
+class Environment
+{
+
+private:
+	btDynamicsWorld *m_dynamicsWorld;
+	btCollisionShape* groundShape;
+	btTransform groundTransform;
+	btCollisionShape* colShape;
+
+	btAlignedObjectArray<btCollisionShape*>	m_collisionShapes;
+
+	btBroadphaseInterface*	m_broadphase;
+	btCollisionDispatcher*	m_dispatcher;
+	btConstraintSolver*	m_solver;
+	btDefaultCollisionConfiguration* m_collisionConfiguration;
+
+	btAlignedObjectArray<btTypedConstraint*>	m_joints;
+	btAlignedObjectArray<btAlignedObjectArray<int> > m_matrix;
+
+enum {
+	LEFT=0, RIGHT=1, UP=2, DOWN=3
+};
+
+public:
+
+	Environment();
+
+	~Environment() { };
+
+	void addAgent(Agent *agent);
+
+	void setupEnvironment();
+
+
+	void createMagicCarpet(int n, int m);
+	btAlignedObjectArray<btCollisionShape*>	getCollisionShapes();
+	btDynamicsWorld *getDynamicsWorld();
+
+	btAlignedObjectArray<btTypedConstraint*> getJoints()
+	{
+		return m_joints;
+	}
+
+	btAlignedObjectArray<btAlignedObjectArray<int> > getMatrix()
+	{
+		return m_matrix;
+	}
+
+	void exitEnvironment();
+};
+
+
+
+#endif //ENVIRONMENT_H
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/GLDebugDrawer.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/GLDebugDrawer.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/GLDebugDrawer.cpp	(revision 167)
@@ -0,0 +1,145 @@
+#include "GLDebugDrawer.h"
+#include "GLDebugFont.h"
+#include "GlutStuff.h"
+
+#include <stdio.h> //printf debugging
+
+GLDebugDrawer::GLDebugDrawer()
+:m_debugMode(0)
+{
+
+}
+
+void	GLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& fromColor, const btVector3& toColor)
+{
+	glBegin(GL_LINES);
+		glColor3f(fromColor.getX(), fromColor.getY(), fromColor.getZ());
+		glVertex3d(from.getX(), from.getY(), from.getZ());
+		glColor3f(toColor.getX(), toColor.getY(), toColor.getZ());
+		glVertex3d(to.getX(), to.getY(), to.getZ());
+	glEnd();
+}
+
+void	GLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& color)
+{
+//	if (m_debugMode > 0)
+	{
+		glBegin(GL_LINES);
+		glColor4f(color.getX(), color.getY(), color.getZ(),1.f);
+		glVertex3d(from.getX(), from.getY(), from.getZ());
+		glVertex3d(to.getX(), to.getY(), to.getZ());
+		glEnd();
+	}
+}
+
+void GLDebugDrawer::drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
+{
+	glColor4f (color.getX(), color.getY(), color.getZ(), btScalar(1.0f));
+	glPushMatrix ();
+	glTranslatef (p.getX(), p.getY(), p.getZ());
+
+	int lats = 5;
+	int longs = 5;
+
+	int i, j;
+	for(i = 0; i <= lats; i++) {
+		btScalar lat0 = SIMD_PI * (-btScalar(0.5) + (btScalar) (i - 1) / lats);
+		btScalar z0  = radius*sin(lat0);
+		btScalar zr0 =  radius*cos(lat0);
+
+		btScalar lat1 = SIMD_PI * (-btScalar(0.5) + (btScalar) i / lats);
+		btScalar z1 = radius*sin(lat1);
+		btScalar zr1 = radius*cos(lat1);
+
+		glBegin(GL_QUAD_STRIP);
+		for(j = 0; j <= longs; j++) {
+			btScalar lng = 2 * SIMD_PI * (btScalar) (j - 1) / longs;
+			btScalar x = cos(lng);
+			btScalar y = sin(lng);
+
+			glNormal3f(x * zr0, y * zr0, z0);
+			glVertex3f(x * zr0, y * zr0, z0);
+			glNormal3f(x * zr1, y * zr1, z1);
+			glVertex3f(x * zr1, y * zr1, z1);
+		}
+		glEnd();
+	}
+
+	glPopMatrix();
+}
+
+void GLDebugDrawer::drawBox (const btVector3& boxMin, const btVector3& boxMax, const btVector3& color, btScalar alpha)
+{
+	btVector3 halfExtent = (boxMax - boxMin) * btScalar(0.5f);
+	btVector3 center = (boxMax + boxMin) * btScalar(0.5f);
+	//glEnable(GL_BLEND);     // Turn blending On
+	//glBlendFunc(GL_SRC_ALPHA, GL_ONE);
+	glColor4f (color.getX(), color.getY(), color.getZ(), alpha);
+	glPushMatrix ();
+	glTranslatef (center.getX(), center.getY(), center.getZ());
+	glScaled(2*halfExtent[0], 2*halfExtent[1], 2*halfExtent[2]);
+//	glutSolidCube(1.0);
+	glPopMatrix ();
+	//glDisable(GL_BLEND);
+}
+
+void	GLDebugDrawer::drawTriangle(const btVector3& a,const btVector3& b,const btVector3& c,const btVector3& color,btScalar alpha)
+{
+//	if (m_debugMode > 0)
+	{
+		const btVector3	n=btCross(b-a,c-a).normalized();
+		glBegin(GL_TRIANGLES);
+		glColor4f(color.getX(), color.getY(), color.getZ(),alpha);
+		glNormal3d(n.getX(),n.getY(),n.getZ());
+		glVertex3d(a.getX(),a.getY(),a.getZ());
+		glVertex3d(b.getX(),b.getY(),b.getZ());
+		glVertex3d(c.getX(),c.getY(),c.getZ());
+		glEnd();
+	}
+}
+
+void	GLDebugDrawer::setDebugMode(int debugMode)
+{
+	m_debugMode = debugMode;
+
+}
+
+void	GLDebugDrawer::draw3dText(const btVector3& location,const char* textString)
+{
+	glRasterPos3f(location.x(),  location.y(),  location.z());
+	//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),textString);
+}
+
+void	GLDebugDrawer::reportErrorWarning(const char* warningString)
+{
+	printf("%s", warningString);
+}
+
+void	GLDebugDrawer::drawContactPoint(const btVector3& pointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
+{
+
+	{
+		btVector3 to=pointOnB+normalOnB*distance;
+		const btVector3&from = pointOnB;
+		glColor4f(color.getX(), color.getY(), color.getZ(),1.f);
+		//glColor4f(0,0,0,1.f);
+
+		glBegin(GL_LINES);
+		glVertex3d(from.getX(), from.getY(), from.getZ());
+		glVertex3d(to.getX(), to.getY(), to.getZ());
+		glEnd();
+
+
+		glRasterPos3f(from.x(),  from.y(),  from.z());
+		char buf[12];
+		sprintf(buf," %d",lifeTime);
+		//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+
+
+	}
+}
+
+
+
+
+
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/GLDebugDrawer.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/GLDebugDrawer.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/GLDebugDrawer.h	(revision 167)
@@ -0,0 +1,38 @@
+#ifndef GL_DEBUG_DRAWER_H
+#define GL_DEBUG_DRAWER_H
+
+#include "LinearMath/btIDebugDraw.h"
+
+
+
+class GLDebugDrawer : public btIDebugDraw
+{
+	int m_debugMode;
+
+public:
+
+	GLDebugDrawer();
+
+
+	virtual void	drawLine(const btVector3& from,const btVector3& to,const btVector3& fromColor, const btVector3& toColor);
+
+	virtual void	drawLine(const btVector3& from,const btVector3& to,const btVector3& color);
+
+	virtual void	drawSphere (const btVector3& p, btScalar radius, const btVector3& color);
+	virtual void	drawBox (const btVector3& boxMin, const btVector3& boxMax, const btVector3& color, btScalar alpha);
+
+	virtual void	drawTriangle(const btVector3& a,const btVector3& b,const btVector3& c,const btVector3& color,btScalar alpha);
+	
+	virtual void	drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color);
+
+	virtual void	reportErrorWarning(const char* warningString);
+
+	virtual void	draw3dText(const btVector3& location,const char* textString);
+
+	virtual void	setDebugMode(int debugMode);
+
+	virtual int		getDebugMode() const { return m_debugMode;}
+
+};
+
+#endif//GL_DEBUG_DRAWER_H
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/GLDebugFont.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/GLDebugFont.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/GLDebugFont.cpp	(revision 167)
@@ -0,0 +1,896 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "GLDebugFont.h"
+#include "GlutStuff.h"
+#include <stdio.h>
+#include <string.h> //for memset
+
+extern unsigned char sFontData[];
+static GLuint sTexture = -1;
+static int sScreenWidth = -1;
+static int sScreenHeight = -1;
+
+
+void GLDebugResetFont(int screenWidth, int screenHeight)
+{
+
+	if ((sScreenWidth == screenWidth) && (sScreenHeight == screenHeight))
+		return;
+
+	sScreenWidth = screenWidth;
+	sScreenHeight = screenHeight;
+
+	if (sTexture == (GLuint) -1)
+	{
+		glGenTextures(1, &sTexture);
+		glBindTexture(GL_TEXTURE_2D, sTexture);
+		glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR);
+		glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR);
+		glTexImage2D(GL_TEXTURE_2D, 0, 3, 256 , 256 , 0, GL_RGB, GL_UNSIGNED_BYTE, &sFontData[0]);
+	}
+
+	printf("generating font at resolution %d,%d\n", screenWidth, screenHeight);
+}
+
+void GLDebugDrawString(int x, int y, const char *string)
+{
+	if (sTexture == (GLuint) -1)
+	{
+		GLDebugResetFont(sScreenWidth,sScreenHeight);
+	}
+	if (strlen(string))
+	{
+		glColor3f(1.,1.,1.);
+		float	cx;
+		float	cy;
+
+		glMatrixMode(GL_TEXTURE);
+		glLoadIdentity();
+
+		glDisable(GL_TEXTURE_GEN_S);
+		glDisable(GL_TEXTURE_GEN_T);
+		glDisable(GL_TEXTURE_GEN_R);
+
+		glEnable(GL_TEXTURE_2D);
+		glBlendFunc(GL_SRC_ALPHA,GL_ONE);
+		glDepthFunc (GL_LEQUAL);
+		glEnable(GL_BLEND);
+		glEnable (GL_DEPTH_TEST);
+		glBindTexture(GL_TEXTURE_2D, sTexture);
+		glDisable(GL_DEPTH_TEST);
+		glMatrixMode(GL_PROJECTION);
+		glPushMatrix();
+		glLoadIdentity();
+		glOrtho(0,sScreenWidth,0,sScreenHeight,-1,1);
+		glMatrixMode(GL_MODELVIEW);
+		glPushMatrix();
+		glLoadIdentity();
+		glTranslated(x,sScreenHeight - y,0);
+
+		for (int i=0;i<int (strlen(string));i++)
+		{
+			char ch = string[i]-32;
+			if (ch>=0)
+			{
+				cx=float(ch%16) * 1./16.f;
+				cy=float(ch/16) * 1./16.f;
+
+				glBegin(GL_QUADS);
+				glTexCoord2f(cx,1-cy-1./16.f);
+				glVertex2i(0,0);
+				glTexCoord2f(cx+1./16.f,1-cy-1./16.f);
+				glVertex2i(16 - 1,0);
+				glTexCoord2f(cx+1./16.f,1-cy);
+				glVertex2i(16 - 1,16 -1);
+				glTexCoord2f(cx,1-cy);
+				glVertex2i(0,16 -1);
+				glEnd();
+				glTranslated(10,0,0);
+			}
+		}
+
+		glMatrixMode(GL_PROJECTION);
+		glPopMatrix();
+		glMatrixMode(GL_MODELVIEW);
+		glPopMatrix();
+		glEnable(GL_DEPTH_TEST);
+		glBlendFunc(GL_SRC_ALPHA,GL_ONE);
+		glDepthFunc (GL_LEQUAL);
+		glDisable(GL_BLEND);
+		glDisable(GL_TEXTURE_2D);
+
+		glMatrixMode(GL_TEXTURE);
+		glLoadIdentity();
+		glScalef(0.025,0.025,0.025);
+
+		glMatrixMode(GL_MODELVIEW);
+
+		//glDisable(GL_TEXTURE_2D);
+	}
+}
+
+
+unsigned char sFontData[] =
+{
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+	178,178,246,246,246,37,37,37,0,0,0,0,0,0,0,0,0,103,103,103,213,213,213,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,255,255,255,255,255,178,178,178,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,255,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,2,255,255,255,255,255,255,2,2,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,178,178,178,255,255,255,145,145,145,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,70,70,70,145,145,145,0,0,
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+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+};
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/GLDebugFont.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/GLDebugFont.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/GLDebugFont.h	(revision 167)
@@ -0,0 +1,24 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 BT_DEBUG_FONT_H
+#define BT_DEBUG_FONT_H
+
+void	GLDebugDrawString(int x,int y,const char* string);
+void	GLDebugResetFont(int screenWidth,int screenHeight);
+
+#endif //BT_DEBUG_FONT_H
+
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/GL_ShapeDrawer.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/GL_ShapeDrawer.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/GL_ShapeDrawer.cpp	(revision 167)
@@ -0,0 +1,998 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+#ifdef WIN32 //needed for glut.h
+#include <windows.h>
+#endif
+#include "GLDebugFont.h"
+
+
+
+#include "GlutStuff.h"
+#include "GL_ShapeDrawer.h"
+#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
+#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btBoxShape.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
+#include "BulletCollision/CollisionShapes/btConeShape.h"
+#include "BulletCollision/CollisionShapes/btCylinderShape.h"
+#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
+#include "BulletCollision/CollisionShapes/btCompoundShape.h"
+#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
+#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
+#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
+#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
+
+
+///
+#include "BulletCollision/CollisionShapes/btShapeHull.h"
+
+#include "LinearMath/btTransformUtil.h"
+
+
+#include "LinearMath/btIDebugDraw.h"
+//for debugmodes
+
+#include <stdio.h> //printf debugging
+
+//#define USE_DISPLAY_LISTS 1
+#ifdef USE_DISPLAY_LISTS
+
+#include <map>
+
+using namespace std;
+
+//Set for storing Display list per trimesh
+struct TRIMESH_KEY
+{
+	btCollisionShape* m_shape;
+	GLuint m_dlist;//OpenGL display list
+};
+
+typedef map<unsigned long,TRIMESH_KEY> TRIMESH_KEY_MAP;
+
+typedef pair<unsigned long,TRIMESH_KEY> TRIMESH_KEY_PAIR;
+
+TRIMESH_KEY_MAP g_display_lists;
+
+class GlDisplaylistDrawcallback : public btTriangleCallback
+{
+public:
+
+	virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
+	{
+
+		btVector3 diff1 = triangle[1] - triangle[0];
+		btVector3 diff2 = triangle[2] - triangle[0];
+		btVector3 normal = diff1.cross(diff2);
+
+		normal.normalize();
+
+		glBegin(GL_TRIANGLES);
+		glColor3f(1, 1, 1);
+		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
+		glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+
+		//glColor3f(0, 1, 0);
+		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
+		glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+
+		//glColor3f(0, 1, 0);
+		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
+		glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+		glEnd();
+
+		/*glBegin(GL_LINES);
+		glColor3f(1, 1, 0);
+		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
+		glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
+		glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+		glColor3f(1, 1, 0);
+		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
+		glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
+		glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+		glColor3f(1, 1, 0);
+		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
+		glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
+		glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+		glEnd();*/
+
+
+	}
+};
+
+GLuint  OGL_get_displaylist_for_shape(btCollisionShape * shape)
+{
+	TRIMESH_KEY_MAP::iterator map_iter;
+
+	unsigned long key = (unsigned long)shape;
+	map_iter = g_display_lists.find(key);
+	if(map_iter!=g_display_lists.end())
+	{
+		return map_iter->second.m_dlist;
+	}
+
+	return 0;
+}
+
+void OGL_displaylist_clean()
+{
+	TRIMESH_KEY_MAP::iterator map_iter,map_itend;
+
+	map_iter = g_display_lists.begin();
+
+	while(map_iter!=map_itend)
+	{
+		glDeleteLists(map_iter->second.m_dlist,1);
+		map_iter++;
+	}
+
+	g_display_lists.clear();
+}
+
+
+void OGL_displaylist_register_shape(btCollisionShape * shape)
+{
+	btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+	btVector3 aabbMin(-btScalar(BT_LARGE_FLOAT),-btScalar(BT_LARGE_FLOAT),-btScalar(BT_LARGE_FLOAT));
+	GlDisplaylistDrawcallback drawCallback;
+	TRIMESH_KEY dlist;
+
+	dlist.m_dlist = glGenLists(1);
+	dlist.m_shape = shape;
+
+	unsigned long key = (unsigned long)shape;
+
+	g_display_lists.insert(TRIMESH_KEY_PAIR(key,dlist));
+
+	glNewList(dlist.m_dlist,GL_COMPILE);
+
+//	glEnable(GL_CULL_FACE);
+
+	glCullFace(GL_BACK);
+
+	if (shape->isConcave())
+	{
+		btConcaveShape* concaveMesh = (btConcaveShape*) shape;
+		//todo pass camera, for some culling
+		concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
+	}
+
+//	glDisable(GL_CULL_FACE);
+
+	glEndList();
+}
+#endif //USE_DISPLAY_LISTS
+
+void GL_ShapeDrawer::drawCoordSystem()  {
+	glBegin(GL_LINES);
+	glColor3f(1, 0, 0);
+	glVertex3d(0, 0, 0);
+	glVertex3d(1, 0, 0);
+	glColor3f(0, 1, 0);
+	glVertex3d(0, 0, 0);
+	glVertex3d(0, 1, 0);
+	glColor3f(0, 0, 1);
+	glVertex3d(0, 0, 0);
+	glVertex3d(0, 0, 1);
+	glEnd();
+
+}
+
+
+
+
+
+class GlDrawcallback : public btTriangleCallback
+{
+
+public:
+
+	bool	m_wireframe;
+
+	GlDrawcallback()
+		:m_wireframe(false)
+	{
+	}
+
+	virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
+	{
+
+		(void)triangleIndex;
+		(void)partId;
+
+
+		if (m_wireframe)
+		{
+			glBegin(GL_LINES);
+			glColor3f(1, 0, 0);
+			glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+			glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+			glColor3f(0, 1, 0);
+			glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+			glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+			glColor3f(0, 0, 1);
+			glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+			glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+			glEnd();
+		} else
+		{
+			glBegin(GL_TRIANGLES);
+			//glColor3f(1, 1, 1);
+
+
+			glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+			glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+			glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+
+			glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+			glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+			glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+			glEnd();
+		}
+	}
+};
+
+class TriangleGlDrawcallback : public btInternalTriangleIndexCallback
+{
+public:
+	virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int  triangleIndex)
+	{
+		(void)triangleIndex;
+		(void)partId;
+
+
+		glBegin(GL_TRIANGLES);//LINES);
+		glColor3f(1, 0, 0);
+		glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+		glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+		glColor3f(0, 1, 0);
+		glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+		glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+		glColor3f(0, 0, 1);
+		glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+		glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+		glEnd();
+	}
+};
+
+
+void GL_ShapeDrawer::drawSphere(btScalar radius, int lats, int longs)
+{
+	int i, j;
+	for(i = 0; i <= lats; i++) {
+		btScalar lat0 = SIMD_PI * (-btScalar(0.5) + (btScalar) (i - 1) / lats);
+		btScalar z0  = radius*sin(lat0);
+		btScalar zr0 =  radius*cos(lat0);
+
+		btScalar lat1 = SIMD_PI * (-btScalar(0.5) + (btScalar) i / lats);
+		btScalar z1 = radius*sin(lat1);
+		btScalar zr1 = radius*cos(lat1);
+
+		glBegin(GL_QUAD_STRIP);
+		for(j = 0; j <= longs; j++) {
+			btScalar lng = 2 * SIMD_PI * (btScalar) (j - 1) / longs;
+			btScalar x = cos(lng);
+			btScalar y = sin(lng);
+			glNormal3f(x * zr1, y * zr1, z1);
+			glVertex3f(x * zr1, y * zr1, z1);
+			glNormal3f(x * zr0, y * zr0, z0);
+			glVertex3f(x * zr0, y * zr0, z0);
+		}
+		glEnd();
+	}
+}
+
+void GL_ShapeDrawer::drawCylinder(float radius,float halfHeight, int upAxis)
+{
+
+
+	glPushMatrix();
+	switch (upAxis)
+	{
+	case 0:
+		glRotatef(-90.0, 0.0, 1.0, 0.0);
+		glTranslatef(0.0, 0.0, -halfHeight);
+		break;
+	case 1:
+		glRotatef(-90.0, 1.0, 0.0, 0.0);
+		glTranslatef(0.0, 0.0, -halfHeight);
+		break;
+	case 2:
+
+		glTranslatef(0.0, 0.0, -halfHeight);
+		break;
+	default:
+		{
+			btAssert(0);
+		}
+
+	}
+
+	GLUquadricObj *quadObj = gluNewQuadric();
+
+	//The gluCylinder subroutine draws a cylinder that is oriented along the z axis.
+	//The base of the cylinder is placed at z = 0; the top of the cylinder is placed at z=height.
+	//Like a sphere, the cylinder is subdivided around the z axis into slices and along the z axis into stacks.
+
+	gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL);
+	gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH);
+
+	gluDisk(quadObj,0,radius,15, 10);
+
+	gluCylinder(quadObj, radius, radius, 2.f*halfHeight, 15, 10);
+	glTranslatef(0.0, 0.0, 2.*halfHeight);
+	glRotatef(-180.0, 0.0, 1.0, 0.0);
+	gluDisk(quadObj,0,radius,15, 10);
+
+	glPopMatrix();
+	gluDeleteQuadric(quadObj);
+}
+
+GL_ShapeDrawer::ShapeCache*		GL_ShapeDrawer::cache(btConvexShape* shape)
+{
+	ShapeCache*		sc=(ShapeCache*)shape->getUserPointer();
+	if(!sc)
+	{
+		sc=new(btAlignedAlloc(sizeof(ShapeCache),16)) ShapeCache(shape);
+		sc->m_shapehull.buildHull(shape->getMargin());
+		m_shapecaches.push_back(sc);
+		shape->setUserPointer(sc);
+		/* Build edges	*/
+		const int			ni=sc->m_shapehull.numIndices();
+		const int			nv=sc->m_shapehull.numVertices();
+		const unsigned int*	pi=sc->m_shapehull.getIndexPointer();
+		const btVector3*	pv=sc->m_shapehull.getVertexPointer();
+		btAlignedObjectArray<ShapeCache::Edge*>	edges;
+		sc->m_edges.reserve(ni);
+		edges.resize(nv*nv,0);
+		for(int i=0;i<ni;i+=3)
+		{
+			const unsigned int* ti=pi+i;
+			const btVector3		nrm=btCross(pv[ti[1]]-pv[ti[0]],pv[ti[2]]-pv[ti[0]]).normalized();
+			for(int j=2,k=0;k<3;j=k++)
+			{
+				const unsigned int	a=ti[j];
+				const unsigned int	b=ti[k];
+				ShapeCache::Edge*&	e=edges[btMin(a,b)*nv+btMax(a,b)];
+				if(!e)
+				{
+					sc->m_edges.push_back(ShapeCache::Edge());
+					e=&sc->m_edges[sc->m_edges.size()-1];
+					e->n[0]=nrm;e->n[1]=-nrm;
+					e->v[0]=a;e->v[1]=b;
+				}
+				else
+				{
+					e->n[1]=nrm;
+				}
+			}
+		}
+	}
+	return(sc);
+}
+
+void renderSquareA(float x, float y, float z)
+{
+	glBegin(GL_LINE_LOOP);
+	glVertex3f(x, y, z);
+	glVertex3f(x + 10., y, z);
+	glVertex3f(x + 10., y + 10., z);
+	glVertex3f(x, y + 10., z);
+	glEnd();
+}
+
+inline void glDrawVector(const btVector3& v) { glVertex3d(v[0], v[1], v[2]); }
+
+
+void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int	debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
+{
+	if (shape->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE)
+	{
+		btVector3 org(m[12], m[13], m[14]);
+		btVector3 dx(m[0], m[1], m[2]);
+		btVector3 dy(m[4], m[5], m[6]);
+//		btVector3 dz(m[8], m[9], m[10]);
+		const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
+		btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
+		dx *= halfExtent[0];
+		dy *= halfExtent[1];
+//		dz *= halfExtent[2];
+		glColor3f(1,1,1);
+		glDisable(GL_LIGHTING);
+		glLineWidth(2);
+
+		glBegin(GL_LINE_LOOP);
+		glDrawVector(org - dx - dy);
+		glDrawVector(org - dx + dy);
+		glDrawVector(org + dx + dy);
+		glDrawVector(org + dx - dy);
+		glEnd();
+		return;
+	}
+	else if((shape->getShapeType() == BOX_SHAPE_PROXYTYPE) && (debugMode & btIDebugDraw::DBG_FastWireframe))
+	{
+		btVector3 org(m[12], m[13], m[14]);
+		btVector3 dx(m[0], m[1], m[2]);
+		btVector3 dy(m[4], m[5], m[6]);
+		btVector3 dz(m[8], m[9], m[10]);
+		const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
+		btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
+		dx *= halfExtent[0];
+		dy *= halfExtent[1];
+		dz *= halfExtent[2];
+		glBegin(GL_LINE_LOOP);
+		glDrawVector(org - dx - dy - dz);
+		glDrawVector(org + dx - dy - dz);
+		glDrawVector(org + dx + dy - dz);
+		glDrawVector(org - dx + dy - dz);
+		glDrawVector(org - dx + dy + dz);
+		glDrawVector(org + dx + dy + dz);
+		glDrawVector(org + dx - dy + dz);
+		glDrawVector(org - dx - dy + dz);
+		glEnd();
+		glBegin(GL_LINES);
+		glDrawVector(org + dx - dy - dz);
+		glDrawVector(org + dx - dy + dz);
+		glDrawVector(org + dx + dy - dz);
+		glDrawVector(org + dx + dy + dz);
+		glDrawVector(org - dx - dy - dz);
+		glDrawVector(org - dx + dy - dz);
+		glDrawVector(org - dx - dy + dz);
+		glDrawVector(org - dx + dy + dz);
+		glEnd();
+		return;
+	}
+
+	glPushMatrix();
+	btglMultMatrix(m);
+
+
+	if (shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE)
+	{
+		const btUniformScalingShape* scalingShape = static_cast<const btUniformScalingShape*>(shape);
+		const btConvexShape* convexShape = scalingShape->getChildShape();
+		float	scalingFactor = (float)scalingShape->getUniformScalingFactor();
+		{
+			btScalar tmpScaling[4][4]={{scalingFactor,0,0,0},
+			{0,scalingFactor,0,0},
+			{0,0,scalingFactor,0},
+			{0,0,0,1}};
+
+			drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode,worldBoundsMin,worldBoundsMax);
+		}
+		glPopMatrix();
+		return;
+	}
+
+	if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
+	{
+		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
+		for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
+		{
+			btTransform childTrans = compoundShape->getChildTransform(i);
+			const btCollisionShape* colShape = compoundShape->getChildShape(i);
+			btScalar childMat[16];
+			childTrans.getOpenGLMatrix(childMat);
+			drawOpenGL(childMat,colShape,color,debugMode,worldBoundsMin,worldBoundsMax);
+		}
+
+	} else
+	{
+		if(m_textureenabled&&(!m_textureinitialized))
+		{
+			GLubyte*	image=new GLubyte[256*256*3];
+			for(int y=0;y<256;++y)
+			{
+				const int	t=y>>4;
+				GLubyte*	pi=image+y*256*3;
+				for(int x=0;x<256;++x)
+				{
+					const int		s=x>>4;
+					const GLubyte	b=180;
+					GLubyte			c=b+(((s+t)&1)&1)*(255-b);
+					pi[0]=pi[1]=pi[2]=c;pi+=3;
+				}
+			}
+
+			glGenTextures(1,(GLuint*)&m_texturehandle);
+			glBindTexture(GL_TEXTURE_2D,m_texturehandle);
+			glTexEnvf(GL_TEXTURE_ENV,GL_TEXTURE_ENV_MODE,GL_MODULATE);
+			glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR_MIPMAP_LINEAR);
+			glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR_MIPMAP_LINEAR);
+			glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_WRAP_S,GL_REPEAT);
+			glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_WRAP_T,GL_REPEAT);
+			gluBuild2DMipmaps(GL_TEXTURE_2D,3,256,256,GL_RGB,GL_UNSIGNED_BYTE,image);
+			delete[] image;
+
+			glMatrixMode(GL_TEXTURE);
+			glLoadIdentity();
+			glScalef(0.025,0.025,0.025);
+
+
+		}
+
+
+
+		static const GLfloat	planex[]={1,0,0,0};
+//			static const GLfloat	planey[]={0,1,0,0};
+			static const GLfloat	planez[]={0,0,1,0};
+			glTexGenfv(GL_S,GL_OBJECT_PLANE,planex);
+			glTexGenfv(GL_T,GL_OBJECT_PLANE,planez);
+			glTexGeni(GL_S,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
+			glTexGeni(GL_T,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
+			glEnable(GL_TEXTURE_GEN_S);
+			glEnable(GL_TEXTURE_GEN_T);
+			glEnable(GL_TEXTURE_GEN_R);
+			m_textureinitialized=true;
+
+
+
+
+		//drawCoordSystem();
+
+		//glPushMatrix();
+		glEnable(GL_COLOR_MATERIAL);
+		if(m_textureenabled)
+		{
+			glEnable(GL_TEXTURE_2D);
+			glBindTexture(GL_TEXTURE_2D,m_texturehandle);
+		} else
+		{
+			glDisable(GL_TEXTURE_2D);
+		}
+
+
+		glColor3f(color.x(),color.y(), color.z());
+
+		bool useWireframeFallback = true;
+
+		if (!(debugMode & btIDebugDraw::DBG_DrawWireframe))
+		{
+			///you can comment out any of the specific cases, and use the default
+
+			///the benefit of 'default' is that it approximates the actual collision shape including collision margin
+			//int shapetype=m_textureenabled?MAX_BROADPHASE_COLLISION_TYPES:shape->getShapeType();
+			int shapetype=shape->getShapeType();
+			switch (shapetype)
+			{
+
+				case SPHERE_SHAPE_PROXYTYPE:
+				{
+					const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
+					float radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
+					drawSphere(radius,10,10);
+					useWireframeFallback = false;
+					break;
+				}
+
+				case BOX_SHAPE_PROXYTYPE:
+				{
+					const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
+					btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
+
+					static int indices[36] = {
+						0,1,2,
+						3,2,1,
+						4,0,6,
+						6,0,2,
+						5,1,4,
+						4,1,0,
+						7,3,1,
+						7,1,5,
+						5,4,7,
+						7,4,6,
+						7,2,3,
+						7,6,2};
+
+					static btVector3 vertices[8]={	btVector3(1,1,1),btVector3(-1,1,1),	btVector3(1,-1,1),	btVector3(-1,-1,1),	btVector3(1,1,-1),	btVector3(-1,1,-1),	btVector3(1,-1,-1),	btVector3(-1,-1,-1)};
+					glBegin (GL_TRIANGLES);
+					int si=36;
+					for (int i=0;i<si;i+=3)
+					{
+						btVector3 v1 = vertices[indices[i]]*halfExtent;
+						btVector3 v2 = vertices[indices[i+1]]*halfExtent;
+						btVector3 v3 = vertices[indices[i+2]]*halfExtent;
+						btVector3 normal = (v3-v1).cross(v2-v1);
+						normal.normalize ();
+
+						glNormal3f(normal.getX(),normal.getY(),normal.getZ());
+						glVertex3f (v1.x(), v1.y(), v1.z());
+						glVertex3f (v2.x(), v2.y(), v2.z());
+						glVertex3f (v3.x(), v3.y(), v3.z());
+
+					}
+					glEnd();
+
+					useWireframeFallback = false;
+					break;
+				}
+
+
+
+#if 0
+
+			case CONE_SHAPE_PROXYTYPE:
+				{
+					const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
+					int upIndex = coneShape->getConeUpIndex();
+					float radius = coneShape->getRadius();//+coneShape->getMargin();
+					float height = coneShape->getHeight();//+coneShape->getMargin();
+					switch (upIndex)
+					{
+					case 0:
+						glRotatef(90.0, 0.0, 1.0, 0.0);
+						break;
+					case 1:
+						glRotatef(-90.0, 1.0, 0.0, 0.0);
+						break;
+					case 2:
+						break;
+					default:
+						{
+						}
+					};
+
+					glTranslatef(0.0, 0.0, -0.5*height);
+					glutSolidCone(radius,height,10,10);
+					useWireframeFallback = false;
+					break;
+
+				}
+#endif
+
+			case STATIC_PLANE_PROXYTYPE:
+				{
+					const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
+					btScalar planeConst = staticPlaneShape->getPlaneConstant();
+					const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
+					btVector3 planeOrigin = planeNormal * planeConst;
+					btVector3 vec0,vec1;
+					btPlaneSpace1(planeNormal,vec0,vec1);
+					btScalar vecLen = 100.f;
+					btVector3 pt0 = planeOrigin + vec0*vecLen;
+					btVector3 pt1 = planeOrigin - vec0*vecLen;
+					btVector3 pt2 = planeOrigin + vec1*vecLen;
+					btVector3 pt3 = planeOrigin - vec1*vecLen;
+					glBegin(GL_LINES);
+					glVertex3f(pt0.getX(),pt0.getY(),pt0.getZ());
+					glVertex3f(pt1.getX(),pt1.getY(),pt1.getZ());
+					glVertex3f(pt2.getX(),pt2.getY(),pt2.getZ());
+					glVertex3f(pt3.getX(),pt3.getY(),pt3.getZ());
+					glEnd();
+
+
+					break;
+
+				}
+
+/*
+			case CYLINDER_SHAPE_PROXYTYPE:
+				{
+					const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
+					int upAxis = cylinder->getUpAxis();
+
+
+					float radius = cylinder->getRadius();
+					float halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
+
+					drawCylinder(radius,halfHeight,upAxis);
+
+					break;
+				}
+*/
+
+			case MULTI_SPHERE_SHAPE_PROXYTYPE:
+			{
+				const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
+
+				btTransform childTransform;
+				childTransform.setIdentity();
+
+
+				for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
+				{
+					btSphereShape sc(multiSphereShape->getSphereRadius(i));
+					childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
+					btScalar childMat[16];
+					childTransform.getOpenGLMatrix(childMat);
+					drawOpenGL(childMat,&sc,color,debugMode,worldBoundsMin,worldBoundsMax);
+				}
+
+				break;
+			}
+
+			default:
+				{
+
+
+					if (shape->isConvex())
+					{
+						ShapeCache*	sc=cache((btConvexShape*)shape);
+#if 0
+						btConvexShape* convexShape = (btConvexShape*)shape;
+						if (!shape->getUserPointer())
+						{
+							//create a hull approximation
+							void* mem = btAlignedAlloc(sizeof(btShapeHull),16);
+							btShapeHull* hull = new(mem) btShapeHull(convexShape);
+
+							///cleanup memory
+							m_shapeHulls.push_back(hull);
+
+							btScalar margin = shape->getMargin();
+							hull->buildHull(margin);
+							convexShape->setUserPointer(hull);
+
+
+							//	printf("numTriangles = %d\n", hull->numTriangles ());
+							//	printf("numIndices = %d\n", hull->numIndices ());
+							//	printf("numVertices = %d\n", hull->numVertices ());
+
+
+						}
+#endif
+
+
+
+						//if (shape->getUserPointer())
+						{
+							//glutSolidCube(1.0);
+							btShapeHull* hull = &sc->m_shapehull/*(btShapeHull*)shape->getUserPointer()*/;
+
+
+							if (hull->numTriangles () > 0)
+							{
+								int index = 0;
+								const unsigned int* idx = hull->getIndexPointer();
+								const btVector3* vtx = hull->getVertexPointer();
+
+								glBegin (GL_TRIANGLES);
+
+								for (int i = 0; i < hull->numTriangles (); i++)
+								{
+									int i1 = index++;
+									int i2 = index++;
+									int i3 = index++;
+									btAssert(i1 < hull->numIndices () &&
+										i2 < hull->numIndices () &&
+										i3 < hull->numIndices ());
+
+									int index1 = idx[i1];
+									int index2 = idx[i2];
+									int index3 = idx[i3];
+									btAssert(index1 < hull->numVertices () &&
+										index2 < hull->numVertices () &&
+										index3 < hull->numVertices ());
+
+									btVector3 v1 = vtx[index1];
+									btVector3 v2 = vtx[index2];
+									btVector3 v3 = vtx[index3];
+									btVector3 normal = (v3-v1).cross(v2-v1);
+									normal.normalize ();
+
+									glNormal3f(normal.getX(),normal.getY(),normal.getZ());
+									glVertex3f (v1.x(), v1.y(), v1.z());
+									glVertex3f (v2.x(), v2.y(), v2.z());
+									glVertex3f (v3.x(), v3.y(), v3.z());
+
+								}
+								glEnd ();
+
+							}
+						}
+					}
+				}
+			}
+
+		}
+
+
+
+
+		/// for polyhedral shapes
+		if (debugMode==btIDebugDraw::DBG_DrawFeaturesText && (shape->isPolyhedral()))
+		{
+			btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
+
+			{
+				glRasterPos3f(0.0,  0.0,  0.0);
+				//btDrawString(BMF_GetFont(BMF_kHelvetica10),polyshape->getExtraDebugInfo());
+
+				glColor3f(1.f, 1.f, 1.f);
+				int i;
+				for (i=0;i<polyshape->getNumVertices();i++)
+				{
+					btVector3 vtx;
+					polyshape->getVertex(i,vtx);
+					glRasterPos3f(vtx.x(),  vtx.y(),  vtx.z());
+					char buf[12];
+					sprintf(buf," %d",i);
+					//btDrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+				}
+
+				for (i=0;i<polyshape->getNumPlanes();i++)
+				{
+					btVector3 normal;
+					btVector3 vtx;
+					polyshape->getPlane(normal,vtx,i);
+					btScalar d = vtx.dot(normal);
+
+					glRasterPos3f(normal.x()*d,  normal.y()*d, normal.z()*d);
+					char buf[12];
+					sprintf(buf," plane %d",i);
+					//btDrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+
+				}
+			}
+
+		}
+
+
+#ifdef USE_DISPLAY_LISTS
+
+		if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
+		{
+			GLuint dlist =   OGL_get_displaylist_for_shape((btCollisionShape * )shape);
+			if (dlist)
+			{
+				glCallList(dlist);
+			}
+			else
+			{
+#else
+		if (shape->isConcave() && !shape->isInfinite())
+		{
+			btConcaveShape* concaveMesh = (btConcaveShape*) shape;
+
+			GlDrawcallback drawCallback;
+			drawCallback.m_wireframe = (debugMode & btIDebugDraw::DBG_DrawWireframe)!=0;
+
+			concaveMesh->processAllTriangles(&drawCallback,worldBoundsMin,worldBoundsMax);
+
+		}
+#endif
+
+#ifdef USE_DISPLAY_LISTS
+	}
+}
+#endif
+
+
+
+
+
+glDisable(GL_DEPTH_TEST);
+glRasterPos3f(0,0,0);//mvtx.x(),  vtx.y(),  vtx.z());
+if (debugMode&btIDebugDraw::DBG_DrawText)
+{
+	GLDebugDrawString(0,0,shape->getName());
+}
+
+if (debugMode& btIDebugDraw::DBG_DrawFeaturesText)
+{
+	//btDrawString(BMF_GetFont(BMF_kHelvetica10),shape->getExtraDebugInfo());
+}
+glEnable(GL_DEPTH_TEST);
+
+//	glPopMatrix();
+if(m_textureenabled) glDisable(GL_TEXTURE_2D);
+	}
+	glPopMatrix();
+
+}
+
+//
+void		GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
+{
+	glPushMatrix();
+	btglMultMatrix(m);
+	if(shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE)
+	{
+		const btUniformScalingShape* scalingShape = static_cast<const btUniformScalingShape*>(shape);
+		const btConvexShape* convexShape = scalingShape->getChildShape();
+		float	scalingFactor = (float)scalingShape->getUniformScalingFactor();
+		btScalar tmpScaling[4][4]={	{scalingFactor,0,0,0},
+		{0,scalingFactor,0,0},
+		{0,0,scalingFactor,0},
+		{0,0,0,1}};
+		drawShadow((btScalar*)tmpScaling,extrusion,convexShape,worldBoundsMin,worldBoundsMax);
+		glPopMatrix();
+		return;
+	}
+	else if(shape->getShapeType()==COMPOUND_SHAPE_PROXYTYPE)
+	{
+		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
+		for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
+		{
+			btTransform childTrans = compoundShape->getChildTransform(i);
+			const btCollisionShape* colShape = compoundShape->getChildShape(i);
+			btScalar childMat[16];
+			childTrans.getOpenGLMatrix(childMat);
+			drawShadow(childMat,extrusion*childTrans.getBasis(),colShape,worldBoundsMin,worldBoundsMax);
+		}
+	}
+	else
+	{
+		if (shape->isConvex())
+		{
+			ShapeCache*	sc=cache((btConvexShape*)shape);
+			btShapeHull* hull =&sc->m_shapehull;
+			glBegin(GL_QUADS);
+			for(int i=0;i<sc->m_edges.size();++i)
+			{
+				const btScalar		d=btDot(sc->m_edges[i].n[0],extrusion);
+				if((d*btDot(sc->m_edges[i].n[1],extrusion))<0)
+				{
+					const int			q=	d<0?1:0;
+					const btVector3&	a=	hull->getVertexPointer()[sc->m_edges[i].v[q]];
+					const btVector3&	b=	hull->getVertexPointer()[sc->m_edges[i].v[1-q]];
+					glVertex3f(a[0],a[1],a[2]);
+					glVertex3f(b[0],b[1],b[2]);
+					glVertex3f(b[0]+extrusion[0],b[1]+extrusion[1],b[2]+extrusion[2]);
+					glVertex3f(a[0]+extrusion[0],a[1]+extrusion[1],a[2]+extrusion[2]);
+				}
+			}
+			glEnd();
+		}
+
+	}
+
+
+
+
+	if (shape->isConcave())//>getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
+		//		if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
+	{
+		btConcaveShape* concaveMesh = (btConcaveShape*) shape;
+
+		GlDrawcallback drawCallback;
+		drawCallback.m_wireframe = false;
+
+		concaveMesh->processAllTriangles(&drawCallback,worldBoundsMin,worldBoundsMax);
+
+	}
+	glPopMatrix();
+
+}
+
+//
+GL_ShapeDrawer::GL_ShapeDrawer()
+{
+	m_texturehandle			=	0;
+	m_textureenabled		=	false;
+	m_textureinitialized	=	false;
+}
+
+GL_ShapeDrawer::~GL_ShapeDrawer()
+{
+	int i;
+	for (i=0;i<m_shapecaches.size();i++)
+	{
+		m_shapecaches[i]->~ShapeCache();
+		btAlignedFree(m_shapecaches[i]);
+	}
+	m_shapecaches.clear();
+	if(m_textureinitialized)
+	{
+		glDeleteTextures(1,(const GLuint*) &m_texturehandle);
+	}
+}
+
+
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/GL_ShapeDrawer.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/GL_ShapeDrawer.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/GL_ShapeDrawer.h	(revision 167)
@@ -0,0 +1,70 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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 GL_SHAPE_DRAWER_H
+#define GL_SHAPE_DRAWER_H
+
+class btCollisionShape;
+class btShapeHull;
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btVector3.h"
+
+#include "BulletCollision/CollisionShapes/btShapeHull.h"
+
+/// OpenGL shape drawing
+class GL_ShapeDrawer
+{
+protected:
+	struct ShapeCache
+	{
+	struct Edge { btVector3 n[2];int v[2]; };
+	ShapeCache(btConvexShape* s) : m_shapehull(s) {}
+	btShapeHull					m_shapehull;
+	btAlignedObjectArray<Edge>	m_edges;
+	};
+	//clean-up memory of dynamically created shape hulls
+	btAlignedObjectArray<ShapeCache*>	m_shapecaches;
+	unsigned int						m_texturehandle;
+	bool								m_textureenabled;
+	bool								m_textureinitialized;
+	
+
+	ShapeCache*							cache(btConvexShape*);
+
+public:
+		GL_ShapeDrawer();
+
+		virtual ~GL_ShapeDrawer();
+
+		///drawOpenGL might allocate temporary memoty, stores pointer in shape userpointer
+		virtual void		drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int	debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);
+		virtual void		drawShadow(btScalar* m, const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);
+		
+		bool		enableTexture(bool enable) { bool p=m_textureenabled;m_textureenabled=enable;return(p); }
+		bool		hasTextureEnabled() const
+		{
+			return m_textureenabled;
+		}
+		
+		static void		drawCylinder(float radius,float halfHeight, int upAxis);
+		void			drawSphere(btScalar r, int lats, int longs);
+		static void		drawCoordSystem();
+		
+};
+
+void OGL_displaylist_register_shape(btCollisionShape * shape);
+void OGL_displaylist_clean();
+
+#endif //GL_SHAPE_DRAWER_H
+
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/GlutDemoApplication.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/GlutDemoApplication.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/GlutDemoApplication.cpp	(revision 167)
@@ -0,0 +1,85 @@
+
+
+#include "GlutDemoApplication.h"
+
+#include "GlutStuff.h"
+
+#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+
+void	GlutDemoApplication::updateModifierKeys()
+{
+	m_modifierKeys = 0;
+	if (glutGetModifiers() & GLUT_ACTIVE_ALT)
+		m_modifierKeys |= BT_ACTIVE_ALT;
+
+	if (glutGetModifiers() & GLUT_ACTIVE_CTRL)
+		m_modifierKeys |= BT_ACTIVE_CTRL;
+
+	if (glutGetModifiers() & GLUT_ACTIVE_SHIFT)
+		m_modifierKeys |= BT_ACTIVE_SHIFT;
+}
+
+void GlutDemoApplication::specialKeyboard(int key, int x, int y)
+{
+	(void)x;
+	(void)y;
+
+	switch (key)
+	{
+	case GLUT_KEY_F1:
+		{
+
+			break;
+		}
+
+	case GLUT_KEY_F2:
+		{
+
+			break;
+		}
+
+
+	case GLUT_KEY_END:
+		{
+			int numObj = getDynamicsWorld()->getNumCollisionObjects();
+			if (numObj)
+			{
+				btCollisionObject* obj = getDynamicsWorld()->getCollisionObjectArray()[numObj-1];
+
+				getDynamicsWorld()->removeCollisionObject(obj);
+				btRigidBody* body = btRigidBody::upcast(obj);
+				if (body && body->getMotionState())
+				{
+					delete body->getMotionState();
+				}
+				delete obj;
+
+
+			}
+			break;
+		}
+	case GLUT_KEY_LEFT : stepLeft(); break;
+	case GLUT_KEY_RIGHT : stepRight(); break;
+	case GLUT_KEY_UP : stepFront(); break;
+	case GLUT_KEY_DOWN : stepBack(); break;
+	case GLUT_KEY_PAGE_UP : zoomIn(); break;
+	case GLUT_KEY_PAGE_DOWN : zoomOut(); break;
+	case GLUT_KEY_HOME : toggleIdle(); break;
+	default:
+		//        std::cout << "unused (special) key : " << key << std::endl;
+		break;
+	}
+
+	glutPostRedisplay();
+
+}
+
+void GlutDemoApplication::swapBuffers()
+{
+	glutSwapBuffers();
+
+}
+
+
+
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/GlutDemoApplication.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/GlutDemoApplication.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/GlutDemoApplication.h	(revision 167)
@@ -0,0 +1,34 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 GLUT_DEMO_APPLICATION_H
+#define GLUT_DEMO_APPLICATION_H
+
+#include "LocalGui.h"
+
+class GlutDemoApplication : public LocalGui
+{
+public:
+
+	void specialKeyboard(int key, int x, int y);
+
+	virtual void swapBuffers();
+
+	virtual	void updateModifierKeys();
+
+};
+#endif //GLUT_DEMO_APPLICATION_H
+
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/GlutStuff.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/GlutStuff.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/GlutStuff.cpp	(revision 167)
@@ -0,0 +1,107 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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 "LocalGui.h"
+
+//glut is C code, this global gLocalGui links glut to the C++ demo
+static LocalGui *gLocalGui = NULL;
+
+
+#include "GlutStuff.h"
+
+static void glutKeyboardCallback(unsigned char key, int x, int y)
+{
+	gLocalGui->keyboardCallback(key,x,y);
+}
+
+static void glutKeyboardUpCallback(unsigned char key, int x, int y)
+{
+  gLocalGui->keyboardUpCallback(key,x,y);
+}
+
+static void glutSpecialKeyboardCallback(int key, int x, int y)
+{
+	gLocalGui->specialKeyboard(key,x,y);
+}
+
+static void glutSpecialKeyboardUpCallback(int key, int x, int y)
+{
+	gLocalGui->specialKeyboardUp(key,x,y);
+}
+
+static void glutMouseFuncCallback(int button, int state, int x, int y)
+{
+	gLocalGui->mouseFunc(button,state,x,y);
+}
+
+static void glutMotionFuncCallback(int x,int y)
+{
+	gLocalGui->mouseMotionFunc(x,y);
+}
+
+static void glutReshapeCallback(int w, int h)
+{
+	gLocalGui->reshape(w,h);
+}
+
+static void glutMoveAndDisplayCallback()
+{
+	gLocalGui->moveAndDisplay();
+}
+
+static void glutDisplayCallback(void)
+{
+	gLocalGui->displayCallback();
+}
+
+int glutmain(int argc, char **argv, Environment *env)
+{
+	int width = 1024;
+	int height = 768;
+	const char *title = "Simeo Engine";
+
+	glutInit(&argc, argv);
+
+	glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH | GLUT_STENCIL);
+	glutInitWindowPosition(0, 0);
+	glutInitWindowSize(width, height);
+	glutCreateWindow(title);
+
+#ifdef BT_USE_FREEGLUT
+	glutSetOption(GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_GLUTMAINLOOP_RETURNS);
+#endif
+
+	gLocalGui = new LocalGui(env);
+	gLocalGui->init();
+
+	glutKeyboardFunc(glutKeyboardCallback);
+	glutKeyboardUpFunc(glutKeyboardUpCallback);
+	glutSpecialFunc(glutSpecialKeyboardCallback);
+	glutSpecialUpFunc(glutSpecialKeyboardUpCallback);
+	glutReshapeFunc(glutReshapeCallback);
+	glutIdleFunc(glutMoveAndDisplayCallback);
+	glutMouseFunc(glutMouseFuncCallback);
+	glutMotionFunc(glutMotionFuncCallback);
+	glutDisplayFunc( glutDisplayCallback );
+
+	glutMoveAndDisplayCallback();
+
+	glutMainLoop();
+
+	return 0;
+}
+
+
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/GlutStuff.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/GlutStuff.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/GlutStuff.h	(revision 167)
@@ -0,0 +1,80 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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 GLUT_STUFF_H
+#define GLUT_STUFF_H
+
+#ifdef WIN32//for glut.h
+#include <windows.h>
+#endif
+
+//think different
+#if defined(__APPLE__) && !defined (VMDMESA)
+#include <OpenGL/gl.h>
+#include <OpenGL/glu.h>
+#include <GLUT/glut.h>
+#else
+
+#include <GL/glut.h>
+#ifdef _WINDOWS
+#include <windows.h>
+#include <GL/gl.h>
+#include <GL/glu.h>
+#endif
+#endif
+
+
+#define BT_KEY_K 'k'
+#define BT_KEY_LEFT			GLUT_KEY_LEFT
+#define BT_KEY_RIGHT		GLUT_KEY_RIGHT
+#define BT_KEY_UP			GLUT_KEY_UP
+#define BT_KEY_DOWN			GLUT_KEY_DOWN
+#define	BT_KEY_F1			GLUT_KEY_F1
+#define	BT_KEY_F2			GLUT_KEY_F2
+#define	BT_KEY_F3			GLUT_KEY_F3
+#define	BT_KEY_F4			GLUT_KEY_F4
+#define	BT_KEY_F5			GLUT_KEY_F5
+#define BT_KEY_PAGEUP		GLUT_KEY_PAGE_UP
+#define BT_KEY_PAGEDOWN		GLUT_KEY_PAGE_DOWN
+#define BT_KEY_END			GLUT_KEY_END
+#define BT_KEY_HOME			GLUT_KEY_HOME
+#define BT_ACTIVE_ALT		GLUT_ACTIVE_ALT
+#define	BT_ACTIVE_CTRL		GLUT_ACTIVE_ALT
+#define BT_ACTIVE_SHIFT		GLUT_ACTIVE_SHIFT
+
+
+
+#if BT_USE_FREEGLUT
+#include "GL/freeglut_ext.h" //to be able to return from glutMainLoop()
+#endif
+
+
+
+class Environment;
+
+int glutmain(int argc, char **argv, Environment *env);
+
+#if defined(BT_USE_DOUBLE_PRECISION)
+#define btglLoadMatrix glLoadMatrixd
+#define btglMultMatrix glMultMatrixd
+#define btglColor3 glColor3d
+#define btglVertex3 glVertex3d
+#else
+#define btglLoadMatrix glLoadMatrixf
+#define btglMultMatrix glMultMatrixf
+#define btglColor3 glColor3f
+#define btglVertex3 glVertex3d
+#endif
+
+#endif //GLUT_STUFF_H
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/Gui.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/Gui.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/Gui.cpp	(revision 167)
@@ -0,0 +1,10 @@
+#include "Gui.h"
+
+Gui::Gui(Environment *env)
+{
+	m_env = env;
+}
+
+Gui::~Gui()
+{
+}
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/Gui.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/Gui.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/Gui.h	(revision 167)
@@ -0,0 +1,18 @@
+#ifndef GUI_H
+#define GUI_H
+
+#include "Environment.h"
+
+class Gui
+{
+protected:
+	Environment *m_env;
+
+public:
+	Gui(Environment *env);
+	~Gui();
+
+	virtual void update() { };
+};
+
+#endif
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/LocalGui.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/LocalGui.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/LocalGui.cpp	(revision 167)
@@ -0,0 +1,1451 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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 "LocalGui.h"
+#include "LinearMath/btIDebugDraw.h"
+#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
+
+#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"//picking
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "BulletCollision/CollisionShapes/btBoxShape.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
+#include "BulletCollision/CollisionShapes/btCompoundShape.h"
+#include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
+#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
+#include "GL_ShapeDrawer.h"
+#include "LinearMath/btQuickprof.h"
+#include "LinearMath/btDefaultMotionState.h"
+
+#include "GLDebugFont.h"
+#include "btBulletDynamicsCommon.h"
+
+
+extern bool gDisableDeactivation;
+int numObjects = 0;
+const int maxNumObjects = 16384;
+btTransform startTransforms[maxNumObjects];
+btCollisionShape* gShapePtr[maxNumObjects];//1 rigidbody has 1 shape (no re-use of shapes)
+#define SHOW_NUM_DEEP_PENETRATIONS 1
+
+extern int gNumClampedCcdMotions;
+
+#ifdef SHOW_NUM_DEEP_PENETRATIONS
+extern int gNumDeepPenetrationChecks;
+
+extern int gNumSplitImpulseRecoveries;
+extern int gNumGjkChecks;
+extern int gNumAlignedAllocs;
+extern int gNumAlignedFree;
+extern int gTotalBytesAlignedAllocs;
+
+#endif //
+
+
+LocalGui::LocalGui(Environment *env)
+//see btIDebugDraw.h for modes
+:
+Gui(env),
+//m_dynamicsWorld(0),
+m_pickConstraint(0),
+m_shootBoxShape(0),
+m_cameraDistance(15.0),
+m_debugMode(0),
+m_ele(20.f),
+m_azi(0.f),
+m_cameraPosition(0.f,0.f,0.f),
+m_cameraTargetPosition(0.f,0.f,0.f),
+m_scaleBottom(0.5f),
+m_scaleFactor(2.f),
+m_cameraUp(0,1,0),
+m_forwardAxis(2),
+m_glutScreenWidth(0),
+m_glutScreenHeight(0),
+m_ShootBoxInitialSpeed(40.f),
+m_stepping(true),
+m_singleStep(false),
+m_idle(false),
+m_enableshadows(false),
+m_sundirection(btVector3(1,-2,1)*1000),
+m_ortho(0),
+m_mouseOldX(0),
+m_mouseOldY(0),
+m_mouseButtons(0),
+m_modifierKeys(0)
+{
+#ifndef BT_NO_PROFILE
+	m_profileIterator = CProfileManager::Get_Iterator();
+#endif //BT_NO_PROFILE
+
+	m_shapeDrawer = new GL_ShapeDrawer ();
+	m_shapeDrawer->enableTexture(true);
+	m_enableshadows = false;
+
+	m_env = env;
+	m_dynamicsWorld = m_env->getDynamicsWorld();
+
+	m_ele = 75;
+	updateCamera();
+
+	setTexturing(true);
+	setShadows(true);
+	setCameraDistance(btScalar(20));
+}
+
+
+
+LocalGui::~LocalGui()
+{
+#ifndef BT_NO_PROFILE
+	CProfileManager::Release_Iterator(m_profileIterator);
+#endif //BT_NO_PROFILE
+
+	if (m_shootBoxShape)
+		delete m_shootBoxShape;
+
+	if (m_shapeDrawer)
+		delete m_shapeDrawer;
+}
+
+
+void LocalGui::overrideGLShapeDrawer (GL_ShapeDrawer* shapeDrawer)
+{
+	shapeDrawer->enableTexture (m_shapeDrawer->hasTextureEnabled());
+	delete m_shapeDrawer;
+	m_shapeDrawer = shapeDrawer;
+}
+
+void LocalGui::init(void)
+{
+	GLfloat light_ambient[] = { 0.2, 0.2, 0.2, 1.0 };
+	GLfloat light_diffuse[] = { 1.0, 1.0, 1.0, 1.0 };
+	GLfloat light_specular[] = { 1.0, 1.0, 1.0, 1.0 };
+	/*	light_position is NOT default value	*/
+	GLfloat light_position0[] = { 1.0, 10.0, 1.0, 0.0 };
+	GLfloat light_position1[] = { -1.0, -10.0, -1.0, 0.0 };
+
+	glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
+	glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
+	glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);
+	glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
+
+	glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient);
+	glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse);
+	glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular);
+	glLightfv(GL_LIGHT1, GL_POSITION, light_position1);
+
+	glEnable(GL_LIGHTING);
+	glEnable(GL_LIGHT0);
+	glEnable(GL_LIGHT1);
+
+
+	glShadeModel(GL_SMOOTH);
+	glEnable(GL_DEPTH_TEST);
+	glDepthFunc(GL_LESS);
+
+	glClearColor(0.7,0.7,0.7,0);
+
+	//  glEnable(GL_CULL_FACE);
+	//  glCullFace(GL_BACK);
+}
+
+
+void	LocalGui::setCameraDistance(float dist)
+{
+	m_cameraDistance  = dist;
+}
+
+float	LocalGui::getCameraDistance()
+{
+	return m_cameraDistance;
+}
+
+
+
+void LocalGui::toggleIdle() {
+	if (m_idle) {
+		m_idle = false;
+	}
+	else {
+		m_idle = true;
+	}
+}
+
+
+
+
+void LocalGui::updateCamera() {
+
+
+	glMatrixMode(GL_PROJECTION);
+	glLoadIdentity();
+	float rele = m_ele * 0.01745329251994329547;// rads per deg
+	float razi = m_azi * 0.01745329251994329547;// rads per deg
+
+
+	btQuaternion rot(m_cameraUp,razi);
+
+
+	btVector3 eyePos(0,0,0);
+	eyePos[m_forwardAxis] = -m_cameraDistance;
+
+	btVector3 forward(eyePos[0],eyePos[1],eyePos[2]);
+	if (forward.length2() < SIMD_EPSILON)
+	{
+		forward.setValue(1.f,0.f,0.f);
+	}
+	btVector3 right = m_cameraUp.cross(forward);
+	btQuaternion roll(right,-rele);
+
+	eyePos = btMatrix3x3(rot) * btMatrix3x3(roll) * eyePos;
+
+	m_cameraPosition[0] = eyePos.getX();
+	m_cameraPosition[1] = eyePos.getY();
+	m_cameraPosition[2] = eyePos.getZ();
+	m_cameraPosition += m_cameraTargetPosition;
+
+	if (m_glutScreenWidth == 0 && m_glutScreenHeight == 0)
+		return;
+
+	btScalar aspect;
+	btVector3 extents;
+
+	if (m_glutScreenWidth > m_glutScreenHeight)
+	{
+		aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
+		extents.setValue(aspect * 1.0f, 1.0f,0);
+	} else
+	{
+		aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth;
+		extents.setValue(1.0f, aspect*1.f,0);
+	}
+
+
+	if (m_ortho)
+	{
+		// reset matrix
+		glLoadIdentity();
+
+
+		extents *= m_cameraDistance;
+		btVector3 lower = m_cameraTargetPosition - extents;
+		btVector3 upper = m_cameraTargetPosition + extents;
+		//gluOrtho2D(lower.x, upper.x, lower.y, upper.y);
+		glOrtho(lower.getX(), upper.getX(), lower.getY(), upper.getY(),-1000,1000);
+
+		glMatrixMode(GL_MODELVIEW);
+		glLoadIdentity();
+		//glTranslatef(100,210,0);
+	} else
+	{
+		if (m_glutScreenWidth > m_glutScreenHeight)
+		{
+			glFrustum (-aspect, aspect, -1.0, 1.0, 1.0, 10000.0);
+		} else
+		{
+			glFrustum (-1.0, 1.0, -aspect, aspect, 1.0, 10000.0);
+		}
+		glMatrixMode(GL_MODELVIEW);
+		glLoadIdentity();
+		gluLookAt(m_cameraPosition[0], m_cameraPosition[1], m_cameraPosition[2],
+			m_cameraTargetPosition[0], m_cameraTargetPosition[1], m_cameraTargetPosition[2],
+			m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
+	}
+
+}
+
+
+
+const float STEPSIZE = 5;
+
+void LocalGui::stepLeft()
+{
+	m_azi -= STEPSIZE; if (m_azi < 0) m_azi += 360; updateCamera();
+}
+void LocalGui::stepRight()
+{
+	m_azi += STEPSIZE; if (m_azi >= 360) m_azi -= 360; updateCamera();
+}
+void LocalGui::stepFront()
+{
+	m_ele += STEPSIZE; if (m_ele >= 360) m_ele -= 360; updateCamera();
+}
+void LocalGui::stepBack()
+{
+	m_ele -= STEPSIZE; if (m_ele < 0) m_ele += 360; updateCamera();
+}
+void LocalGui::zoomIn()
+{
+	m_cameraDistance -= 0.4; updateCamera();
+	if (m_cameraDistance < 0.1)
+		m_cameraDistance = 0.1;
+
+}
+void LocalGui::zoomOut()
+{
+	m_cameraDistance += 0.4; updateCamera();
+
+}
+
+
+
+void LocalGui::reshape(int w, int h)
+{
+	GLDebugResetFont(w,h);
+
+	m_glutScreenWidth = w;
+	m_glutScreenHeight = h;
+
+	glViewport(0, 0, w, h);
+	updateCamera();
+}
+
+
+void LocalGui::keyboardCallback(unsigned char key, int x, int y)
+{
+	(void)x;
+	(void)y;
+
+	m_lastKey = 0;
+
+#ifndef BT_NO_PROFILE
+	if (key >= 0x31 && key <= 0x39)
+	{
+		int child = key-0x31;
+		m_profileIterator->Enter_Child(child);
+	}
+	if (key==0x30)
+	{
+		m_profileIterator->Enter_Parent();
+	}
+#endif //BT_NO_PROFILE
+
+	switch (key)
+	{
+	case 'q' :
+#ifdef BT_USE_FREEGLUT
+		//return from glutMainLoop(), detect memory leaks etc.
+		glutLeaveMainLoop();
+#else
+		exit(0);
+#endif
+		break;
+
+	case 'l' : stepLeft(); break;
+	case 'r' : stepRight(); break;
+	case 'f' : stepFront(); break;
+	case 'b' : stepBack(); break;
+	case 'z' : zoomIn(); break;
+	case 'x' : zoomOut(); break;
+	case 'i' : toggleIdle(); break;
+	case 'g' : m_enableshadows=!m_enableshadows;break;
+	case 'u' : m_shapeDrawer->enableTexture(!m_shapeDrawer->enableTexture(false));break;
+	case 'h':
+		if (m_debugMode & btIDebugDraw::DBG_NoHelpText)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoHelpText);
+		else
+			m_debugMode |= btIDebugDraw::DBG_NoHelpText;
+		break;
+
+	case 'w':
+		if (m_debugMode & btIDebugDraw::DBG_DrawWireframe)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawWireframe);
+		else
+			m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
+		break;
+
+	case 'p':
+		if (m_debugMode & btIDebugDraw::DBG_ProfileTimings)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_ProfileTimings);
+		else
+			m_debugMode |= btIDebugDraw::DBG_ProfileTimings;
+		break;
+
+	case 'm':
+		if (m_debugMode & btIDebugDraw::DBG_EnableSatComparison)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableSatComparison);
+		else
+			m_debugMode |= btIDebugDraw::DBG_EnableSatComparison;
+		break;
+
+	case 'n':
+		if (m_debugMode & btIDebugDraw::DBG_DisableBulletLCP)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DisableBulletLCP);
+		else
+			m_debugMode |= btIDebugDraw::DBG_DisableBulletLCP;
+		break;
+
+	case 't' :
+		if (m_debugMode & btIDebugDraw::DBG_DrawText)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawText);
+		else
+			m_debugMode |= btIDebugDraw::DBG_DrawText;
+		break;
+	case 'y':
+		if (m_debugMode & btIDebugDraw::DBG_DrawFeaturesText)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawFeaturesText);
+		else
+			m_debugMode |= btIDebugDraw::DBG_DrawFeaturesText;
+		break;
+	case 'a':
+		if (m_debugMode & btIDebugDraw::DBG_DrawAabb)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawAabb);
+		else
+			m_debugMode |= btIDebugDraw::DBG_DrawAabb;
+		break;
+	case 'c' :
+		if (m_debugMode & btIDebugDraw::DBG_DrawContactPoints)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawContactPoints);
+		else
+			m_debugMode |= btIDebugDraw::DBG_DrawContactPoints;
+		break;
+	case 'C' :
+		if (m_debugMode & btIDebugDraw::DBG_DrawConstraints)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawConstraints);
+		else
+			m_debugMode |= btIDebugDraw::DBG_DrawConstraints;
+		break;
+	case 'L' :
+		if (m_debugMode & btIDebugDraw::DBG_DrawConstraintLimits)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawConstraintLimits);
+		else
+			m_debugMode |= btIDebugDraw::DBG_DrawConstraintLimits;
+		break;
+
+	case 'd' :
+		if (m_debugMode & btIDebugDraw::DBG_NoDeactivation)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoDeactivation);
+		else
+			m_debugMode |= btIDebugDraw::DBG_NoDeactivation;
+		if (m_debugMode & btIDebugDraw::DBG_NoDeactivation)
+		{
+			gDisableDeactivation = true;
+		} else
+		{
+			gDisableDeactivation = false;
+		}
+		break;
+
+
+
+
+	case 'o' :
+		{
+			m_ortho = !m_ortho;//m_stepping = !m_stepping;
+			break;
+		}
+	case 's' : clientMoveAndDisplay(); break;
+		//    case ' ' : newRandom(); break;
+	case ' ':
+		clientResetScene();
+		break;
+	case '1':
+		{
+			if (m_debugMode & btIDebugDraw::DBG_EnableCCD)
+				m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableCCD);
+			else
+				m_debugMode |= btIDebugDraw::DBG_EnableCCD;
+			break;
+		}
+
+	case '.':
+		{
+			shootBox(getRayTo(x,y));//getCameraTargetPosition());
+			break;
+		}
+
+	case '+':
+		{
+			m_ShootBoxInitialSpeed += 10.f;
+			break;
+		}
+	case '-':
+		{
+			m_ShootBoxInitialSpeed -= 10.f;
+			break;
+		}
+
+	default:
+		//        std::cout << "unused key : " << key << std::endl;
+		break;
+	}
+
+	if (getDynamicsWorld() && getDynamicsWorld()->getDebugDrawer())
+		getDynamicsWorld()->getDebugDrawer()->setDebugMode(m_debugMode);
+
+
+
+}
+
+void	LocalGui::setDebugMode(int mode)
+{
+	m_debugMode = mode;
+	if (getDynamicsWorld() && getDynamicsWorld()->getDebugDrawer())
+		getDynamicsWorld()->getDebugDrawer()->setDebugMode(mode);
+}
+
+void LocalGui::moveAndDisplay()
+{
+	if (!m_idle)
+		clientMoveAndDisplay();
+	else
+ 		displayCallback();
+}
+
+
+/*
+void LocalGui::displayCallback()
+{
+}
+*/
+
+
+#define NUM_SPHERES_ON_DIAGONAL 9
+
+void	LocalGui::setShootBoxShape ()
+{
+	if (!m_shootBoxShape)
+	{
+		m_shootBoxShape = new btBoxShape(btVector3(.5f,.5f,.5f));
+	}
+}
+
+void	LocalGui::shootBox(const btVector3& destination)
+{
+
+	/*if (m_dynamicsWorld)
+	{
+		float mass = 1.f;
+		btTransform startTransform;
+		startTransform.setIdentity();
+		btVector3 camPos = getCameraPosition();
+		startTransform.setOrigin(camPos);
+
+		setShootBoxShape ();
+
+		btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_shootBoxShape);
+		body->setLinearFactor(btVector3(1,1,1));
+
+		btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
+		linVel.normalize();
+		linVel*=m_ShootBoxInitialSpeed;
+
+		body->getWorldTransform().setOrigin(camPos);
+		body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
+		body->setLinearVelocity(linVel);
+		body->setAngularVelocity(btVector3(0,0,0));
+		body->setCcdMotionThreshold(1.);
+		body->setCcdSweptSphereRadius(0.2f);
+
+	}
+	*/
+}
+
+
+int gPickingConstraintId = 0;
+btVector3 gOldPickingPos;
+btVector3 gHitPos(-1,-1,-1);
+float gOldPickingDist  = 0.f;
+btRigidBody* pickedBody = 0;//for deactivation state
+
+
+btVector3	LocalGui::getRayTo(int x,int y)
+{
+	if (m_ortho)
+	{
+
+		btScalar aspect;
+		btVector3 extents;
+		if (m_glutScreenWidth > m_glutScreenHeight)
+		{
+			aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
+			extents.setValue(aspect * 1.0f, 1.0f,0);
+		} else
+		{
+			aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth;
+			extents.setValue(1.0f, aspect*1.f,0);
+		}
+
+		extents *= m_cameraDistance;
+		btVector3 lower = m_cameraTargetPosition - extents;
+		btVector3 upper = m_cameraTargetPosition + extents;
+
+		btScalar u = x / btScalar(m_glutScreenWidth);
+		btScalar v = (m_glutScreenHeight - y) / btScalar(m_glutScreenHeight);
+
+		btVector3	p(0,0,0);
+		p.setValue((1.0f - u) * lower.getX() + u * upper.getX(),(1.0f - v) * lower.getY() + v * upper.getY(),m_cameraTargetPosition.getZ());
+		return p;
+	}
+
+	float top = 1.f;
+	float bottom = -1.f;
+	float nearPlane = 1.f;
+	float tanFov = (top-bottom)*0.5f / nearPlane;
+	float fov = 2.0 * atanf (tanFov);
+
+	btVector3	rayFrom = getCameraPosition();
+	btVector3 rayForward = (getCameraTargetPosition()-getCameraPosition());
+	rayForward.normalize();
+	float farPlane = 10000.f;
+	rayForward*= farPlane;
+
+	btVector3 rightOffset;
+	btVector3 vertical = m_cameraUp;
+
+	btVector3 hor;
+	hor = rayForward.cross(vertical);
+	hor.normalize();
+	vertical = hor.cross(rayForward);
+	vertical.normalize();
+
+	float tanfov = tanf(0.5f*fov);
+
+
+	hor *= 2.f * farPlane * tanfov;
+	vertical *= 2.f * farPlane * tanfov;
+
+	btScalar aspect;
+
+	if (m_glutScreenWidth > m_glutScreenHeight)
+	{
+		aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
+
+		hor*=aspect;
+	} else
+	{
+		aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth;
+		vertical*=aspect;
+	}
+
+
+	btVector3 rayToCenter = rayFrom + rayForward;
+	btVector3 dHor = hor * 1.f/float(m_glutScreenWidth);
+	btVector3 dVert = vertical * 1.f/float(m_glutScreenHeight);
+
+
+	btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
+	rayTo += x * dHor;
+	rayTo -= y * dVert;
+	return rayTo;
+}
+
+btScalar mousePickClamping = 30.f;
+
+
+void LocalGui::mouseFunc(int button, int state, int x, int y)
+{
+	m_dynamicsWorld = m_env->getDynamicsWorld();
+
+	if (state == 0)
+	{
+        m_mouseButtons |= 1<<button;
+    } else
+	{
+        m_mouseButtons = 0;
+    }
+
+	m_mouseOldX = x;
+    m_mouseOldY = y;
+
+	updateModifierKeys();
+	if ((m_modifierKeys& BT_ACTIVE_ALT) && (state==0))
+	{
+		return;
+	}
+
+	//printf("button %i, state %i, x=%i,y=%i\n",button,state,x,y);
+	//button 0, state 0 means left mouse down
+
+	btVector3 rayTo = getRayTo(x,y);
+
+	switch (button)
+	{
+	case 2:
+		{
+			if (state==0)
+			{
+
+				shootBox(rayTo);
+			}
+			break;
+		};
+	case 1:
+		{
+			if (state==0)
+			{
+
+			} else
+			{
+			}
+			break;
+		}
+	case 0:
+		{
+			if (state==0)
+			{
+
+				//add a point to point constraint for picking
+				if (m_dynamicsWorld)
+				{
+
+					btVector3 rayFrom;
+					if (m_ortho)
+					{
+						rayFrom = rayTo;
+						rayFrom.setZ(-100.f);
+					} else
+					{
+						rayFrom = m_cameraPosition;
+					}
+
+					btCollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo);
+					m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback);
+					if (rayCallback.hasHit())
+					{
+
+
+						btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
+						if (body)
+						{
+							//other exclusions?
+							if (!(body->isStaticObject() || body->isKinematicObject()))
+							{
+								pickedBody = body;
+								pickedBody->setActivationState(DISABLE_DEACTIVATION);
+
+
+								btVector3 pickPos = rayCallback.m_hitPointWorld;
+								printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
+
+
+								btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
+
+								btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,localPivot);
+								p2p->m_setting.m_impulseClamp = mousePickClamping;
+
+								m_dynamicsWorld->addConstraint(p2p);
+								m_pickConstraint = p2p;
+
+								//save mouse position for dragging
+								gOldPickingPos = rayTo;
+								gHitPos = pickPos;
+
+								gOldPickingDist  = (pickPos-rayFrom).length();
+
+								//very weak constraint for picking
+								p2p->m_setting.m_tau = 0.1f;
+							}
+						}
+					}
+				}
+
+			} else
+			{
+
+				if (m_pickConstraint && m_dynamicsWorld)
+				{
+					m_dynamicsWorld->removeConstraint(m_pickConstraint);
+					delete m_pickConstraint;
+					//printf("removed constraint %i",gPickingConstraintId);
+					m_pickConstraint = 0;
+					pickedBody->forceActivationState(ACTIVE_TAG);
+					pickedBody->setDeactivationTime( 0.f );
+					pickedBody = 0;
+				}
+
+
+			}
+
+			break;
+
+		}
+	default:
+		{
+		}
+	}
+
+}
+
+void LocalGui::mouseMotionFunc(int x,int y)
+{
+
+	if (m_pickConstraint)
+	{
+		//move the constraint pivot
+		btPoint2PointConstraint* p2p = static_cast<btPoint2PointConstraint*>(m_pickConstraint);
+		if (p2p)
+		{
+			//keep it at the same picking distance
+
+			btVector3 newRayTo = getRayTo(x,y);
+			btVector3 rayFrom;
+			btVector3 oldPivotInB = p2p->getPivotInB();
+			btVector3 newPivotB;
+			if (m_ortho)
+			{
+				newPivotB = oldPivotInB;
+				newPivotB.setX(newRayTo.getX());
+				newPivotB.setY(newRayTo.getY());
+			} else
+			{
+				rayFrom = m_cameraPosition;
+				btVector3 dir = newRayTo-rayFrom;
+				dir.normalize();
+				dir *= gOldPickingDist;
+
+				newPivotB = rayFrom + dir;
+			}
+
+
+
+			p2p->setPivotB(newPivotB);
+		}
+
+	}
+
+	float dx, dy;
+    dx = x - m_mouseOldX;
+    dy = y - m_mouseOldY;
+
+
+	///only if ALT key is pressed (Maya style)
+	if (m_modifierKeys& BT_ACTIVE_ALT)
+	{
+		if(m_mouseButtons & 2)
+		{
+			btVector3 hor = getRayTo(0,0)-getRayTo(1,0);
+			btVector3 vert = getRayTo(0,0)-getRayTo(0,1);
+			btScalar multiplierX = 0.01;
+			btScalar multiplierY = 0.01;
+			if (m_ortho)
+			{
+				multiplierX = 1;
+				multiplierY = 1;
+			}
+
+
+			m_cameraTargetPosition += hor* dx * multiplierX;
+			m_cameraTargetPosition += vert* dy * multiplierY;
+		}
+
+		if(m_mouseButtons & (2 << 2) && m_mouseButtons & 1)
+		{
+		}
+		else if(m_mouseButtons & 1)
+		{
+			m_azi += dx * 0.2;
+			m_azi = fmodf(m_azi, 180.f);
+			m_ele += dy * 0.2;
+			m_ele = fmodf(m_ele, 180.f);
+		}
+		else if(m_mouseButtons & 4)
+		{
+			m_cameraDistance -= dy * 0.2f;
+			if (m_cameraDistance<0.1)
+				m_cameraDistance = 0.1;
+
+
+		}
+	}
+
+
+	m_mouseOldX = x;
+    m_mouseOldY = y;
+	updateCamera();
+}
+
+//See http://www.lighthouse3d.com/opengl/glut/index.php?bmpfontortho
+void LocalGui::setOrthographicProjection()
+{
+
+	// switch to projection mode
+	glMatrixMode(GL_PROJECTION);
+
+	// save previous matrix which contains the
+	//settings for the perspective projection
+	glPushMatrix();
+	// reset matrix
+	glLoadIdentity();
+	// set a 2D orthographic projection
+	gluOrtho2D(0, m_glutScreenWidth, 0, m_glutScreenHeight);
+	glMatrixMode(GL_MODELVIEW);
+	glLoadIdentity();
+
+	// invert the y axis, down is positive
+	glScalef(1, -1, 1);
+	// mover the origin from the bottom left corner
+	// to the upper left corner
+	glTranslatef(0, -m_glutScreenHeight, 0);
+
+}
+
+void LocalGui::resetPerspectiveProjection()
+{
+
+	glMatrixMode(GL_PROJECTION);
+	glPopMatrix();
+	glMatrixMode(GL_MODELVIEW);
+	updateCamera();
+}
+
+
+
+
+extern CProfileIterator * m_profileIterator;
+
+void LocalGui::displayProfileString(int xOffset,int yStart,char* message)
+{
+	glRasterPos3f(xOffset,yStart,0);
+	GLDebugDrawString(xOffset,yStart,message);
+}
+
+
+void LocalGui::showProfileInfo(int& xOffset,int& yStart, int yIncr)
+{
+#ifndef BT_NO_PROFILE
+
+	static double time_since_reset = 0.f;
+	if (!m_idle)
+	{
+		time_since_reset = CProfileManager::Get_Time_Since_Reset();
+	}
+
+
+	{
+		//recompute profiling data, and store profile strings
+
+		char blockTime[128];
+
+		double totalTime = 0;
+
+		int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset();
+
+		m_profileIterator->First();
+
+		double parent_time = m_profileIterator->Is_Root() ? time_since_reset : m_profileIterator->Get_Current_Parent_Total_Time();
+
+		{
+			sprintf(blockTime,"--- Profiling: %s (total running time: %.3f ms) ---",	m_profileIterator->Get_Current_Parent_Name(), parent_time );
+			displayProfileString(xOffset,yStart,blockTime);
+			yStart += yIncr;
+			sprintf(blockTime,"press number (1,2...) to display child timings, or 0 to go up to parent" );
+			displayProfileString(xOffset,yStart,blockTime);
+			yStart += yIncr;
+
+		}
+
+
+		double accumulated_time = 0.f;
+
+		for (int i = 0; !m_profileIterator->Is_Done(); m_profileIterator->Next())
+		{
+			double current_total_time = m_profileIterator->Get_Current_Total_Time();
+			accumulated_time += current_total_time;
+			double fraction = parent_time > SIMD_EPSILON ? (current_total_time / parent_time) * 100 : 0.f;
+
+			sprintf(blockTime,"%d -- %s (%.2f %%) :: %.3f ms / frame (%d calls)",
+				++i, m_profileIterator->Get_Current_Name(), fraction,
+				(current_total_time / (double)frames_since_reset),m_profileIterator->Get_Current_Total_Calls());
+			displayProfileString(xOffset,yStart,blockTime);
+			yStart += yIncr;
+			totalTime += current_total_time;
+		}
+
+		sprintf(blockTime,"%s (%.3f %%) :: %.3f ms", "Unaccounted",
+			// (min(0, time_since_reset - totalTime) / time_since_reset) * 100);
+			parent_time > SIMD_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time);
+
+		displayProfileString(xOffset,yStart,blockTime);
+		yStart += yIncr;
+
+
+
+		sprintf(blockTime,"-------------------------------------------------");
+		displayProfileString(xOffset,yStart,blockTime);
+		yStart += yIncr;
+
+	}
+#endif//BT_NO_PROFILE
+}
+
+
+void LocalGui::renderscene(int pass)
+{
+	btScalar	m[16];
+	btMatrix3x3	rot;rot.setIdentity();
+	const int	numObjects=m_dynamicsWorld->getNumCollisionObjects();
+	btVector3 wireColor(1,0,0);
+	for(int i=0;i<numObjects;i++)
+	{
+		btCollisionObject*	colObj=m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody*		body=btRigidBody::upcast(colObj);
+		if(body&&body->getMotionState())
+		{
+			btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
+			myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
+			rot=myMotionState->m_graphicsWorldTrans.getBasis();
+		}
+		else
+		{
+			colObj->getWorldTransform().getOpenGLMatrix(m);
+			rot=colObj->getWorldTransform().getBasis();
+		}
+		btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
+		if(i&1) wireColor=btVector3(0.f,0.0f,1.f);
+		///color differently for active, sleeping, wantsdeactivation states
+		if (colObj->getActivationState() == 1) //active
+		{
+			if (i & 1)
+			{
+				wireColor += btVector3 (1.f,0.f,0.f);
+			}
+			else
+			{
+				wireColor += btVector3 (.5f,0.f,0.f);
+			}
+		}
+		if(colObj->getActivationState()==2) //ISLAND_SLEEPING
+		{
+			if(i&1)
+			{
+				wireColor += btVector3 (0.f,1.f, 0.f);
+			}
+			else
+			{
+				wireColor += btVector3 (0.f,0.5f,0.f);
+			}
+		}
+
+		btVector3 aabbMin,aabbMax;
+		m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax);
+
+		aabbMin-=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
+		aabbMax+=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
+//		printf("aabbMin=(%f,%f,%f)\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ());
+//		printf("aabbMax=(%f,%f,%f)\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ());
+//		m_dynamicsWorld->getDebugDrawer()->drawAabb(aabbMin,aabbMax,btVector3(1,1,1));
+
+
+		switch(pass)
+		{
+		case	0:	m_shapeDrawer->drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),aabbMin,aabbMax);break;
+		case	1:	m_shapeDrawer->drawShadow(m,m_sundirection*rot,colObj->getCollisionShape(),aabbMin,aabbMax);break;
+		case	2:	m_shapeDrawer->drawOpenGL(m,colObj->getCollisionShape(),wireColor*0.3,0,aabbMin,aabbMax);break;
+		}
+	}
+}
+
+//
+void LocalGui::renderme()
+{
+	m_dynamicsWorld = m_env
+->getDynamicsWorld();
+
+	init
+();
+
+	updateCamera();
+
+	if (m_dynamicsWorld)
+	{
+		if(m_enableshadows)
+		{
+			glClear(GL_STENCIL_BUFFER_BIT);
+			glEnable(GL_CULL_FACE);
+			renderscene(0);
+
+			glDisable(GL_LIGHTING);
+			glDepthMask(GL_FALSE);
+			glDepthFunc(GL_LEQUAL);
+			glEnable(GL_STENCIL_TEST);
+			glColorMask(GL_FALSE,GL_FALSE,GL_FALSE,GL_FALSE);
+			glStencilFunc(GL_ALWAYS,1,0xFFFFFFFFL);
+			glFrontFace(GL_CCW);
+			glStencilOp(GL_KEEP,GL_KEEP,GL_INCR);
+			renderscene(1);
+			glFrontFace(GL_CW);
+			glStencilOp(GL_KEEP,GL_KEEP,GL_DECR);
+			renderscene(1);
+			glFrontFace(GL_CCW);
+
+			glPolygonMode(GL_FRONT,GL_FILL);
+			glPolygonMode(GL_BACK,GL_FILL);
+			glShadeModel(GL_SMOOTH);
+			glEnable(GL_DEPTH_TEST);
+			glDepthFunc(GL_LESS);
+			glEnable(GL_LIGHTING);
+			glDepthMask(GL_TRUE);
+			glCullFace(GL_BACK);
+			glFrontFace(GL_CCW);
+			glEnable(GL_CULL_FACE);
+			glColorMask(GL_TRUE,GL_TRUE,GL_TRUE,GL_TRUE);
+
+			glDepthFunc(GL_LEQUAL);
+			glStencilFunc( GL_NOTEQUAL, 0, 0xFFFFFFFFL );
+			glStencilOp( GL_KEEP, GL_KEEP, GL_KEEP );
+			glDisable(GL_LIGHTING);
+			renderscene(2);
+			glEnable(GL_LIGHTING);
+			glDepthFunc(GL_LESS);
+			glDisable(GL_STENCIL_TEST);
+			glDisable(GL_CULL_FACE);
+		}
+		else
+		{
+			glDisable(GL_CULL_FACE);
+			renderscene(0);
+		}
+
+		int	xOffset = 10;
+		int yStart = 20;
+		int yIncr = 20;
+		char buf[124];
+
+		glDisable(GL_LIGHTING);
+		glColor3f(0, 0, 0);
+
+		if ((m_debugMode & btIDebugDraw::DBG_NoHelpText)==0)
+		{
+			setOrthographicProjection();
+
+			showProfileInfo(xOffset,yStart,yIncr);
+
+#ifdef USE_QUICKPROF
+
+
+			if ( getDebugMode() & btIDebugDraw::DBG_ProfileTimings)
+			{
+				static int counter = 0;
+				counter++;
+				std::map<std::string, hidden::ProfileBlock*>::iterator iter;
+				for (iter = btProfiler::mProfileBlocks.begin(); iter != btProfiler::mProfileBlocks.end(); ++iter)
+				{
+					char blockTime[128];
+					sprintf(blockTime, "%s: %lf",&((*iter).first[0]),btProfiler::getBlockTime((*iter).first, btProfiler::BLOCK_CYCLE_SECONDS));//BLOCK_TOTAL_PERCENT));
+					glRasterPos3f(xOffset,yStart,0);
+					GLDebugDrawString(BMF_GetFont(BMF_kHelvetica10),blockTime);
+					yStart += yIncr;
+
+				}
+
+			}
+#endif //USE_QUICKPROF
+
+
+			sprintf(buf,"mouse to interact");
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+
+			sprintf(buf,"ALT + mouse to move camera");
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+
+			sprintf(buf,"space to reset");
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+
+			sprintf(buf,"cursor keys and z,x to navigate");
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+
+			sprintf(buf,"i to toggle simulation, s single step");
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+
+			sprintf(buf,"q to quit");
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+
+			sprintf(buf,". to shoot box");
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+
+			// not yet hooked up again after refactoring...
+
+			sprintf(buf,"d to toggle deactivation");
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+
+
+			sprintf(buf,"g to toggle mesh animation (ConcaveDemo)");
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+
+
+			sprintf(buf,"h to toggle help text");
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+
+			sprintf(buf,"o to toggle orthogonal/perspective view");
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+
+
+			//bool useBulletLCP = !(getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP);
+			//bool useCCD = (getDebugMode() & btIDebugDraw::DBG_EnableCCD);
+			//glRasterPos3f(xOffset,yStart,0);
+			//sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
+			//GLDebugDrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			//yStart += yIncr;
+
+
+
+			sprintf(buf,"+- shooting speed = %10.2f",m_ShootBoxInitialSpeed);
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+
+#ifdef SHOW_NUM_DEEP_PENETRATIONS
+
+
+			sprintf(buf,"gNumDeepPenetrationChecks = %d",gNumDeepPenetrationChecks);
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+
+			sprintf(buf,"gNumGjkChecks= %d",gNumGjkChecks);
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+
+			sprintf(buf,"gNumClampedCcdMotions = %d",gNumClampedCcdMotions);
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+
+			sprintf(buf,"gNumSplitImpulseRecoveries= %d",gNumSplitImpulseRecoveries);
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+
+			sprintf(buf,"gNumAlignedAllocs = %d",gNumAlignedAllocs);
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+
+			sprintf(buf,"gNumAlignedFree= %d",gNumAlignedFree);
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+
+			sprintf(buf,"# alloc-free = %d",gNumAlignedAllocs-gNumAlignedFree);
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+
+			//enable BT_DEBUG_MEMORY_ALLOCATIONS define in Bullet/src/LinearMath/btAlignedAllocator.h for memory leak detection
+#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
+			glRasterPos3f(xOffset,yStart,0);
+			sprintf(buf,"gTotalBytesAlignedAllocs = %d",gTotalBytesAlignedAllocs);
+			GLDebugDrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			yStart += yIncr;
+#endif //BT_DEBUG_MEMORY_ALLOCATIONS
+
+			if (getDynamicsWorld())
+			{
+				glRasterPos3f(xOffset,yStart,0);
+				sprintf(buf,"# objects = %d",getDynamicsWorld()->getNumCollisionObjects());
+				GLDebugDrawString(xOffset,yStart,buf);
+				yStart += yIncr;
+				glRasterPos3f(xOffset,yStart,0);
+				sprintf(buf,"# pairs = %d",getDynamicsWorld()->getBroadphase()->getOverlappingPairCache()->getNumOverlappingPairs());
+				GLDebugDrawString(xOffset,yStart,buf);
+				yStart += yIncr;
+				sprintf(buf,"# hitPos = %f,%f,%f",gHitPos.getX(),gHitPos.getY(),gHitPos.getZ());
+				GLDebugDrawString(xOffset,yStart,buf);
+				yStart += yIncr;
+
+			}
+
+
+#endif //SHOW_NUM_DEEP_PENETRATIONS
+
+			resetPerspectiveProjection();
+		}
+
+		glEnable(GL_LIGHTING);
+
+
+	}
+
+	updateCamera();
+
+}
+#include "BulletCollision/BroadphaseCollision/btAxisSweep3.h"
+
+void	LocalGui::clientResetScene()
+{
+	m_dynamicsWorld = m_env
+->getDynamicsWorld();
+
+#ifdef SHOW_NUM_DEEP_PENETRATIONS
+	gNumDeepPenetrationChecks = 0;
+	gNumGjkChecks = 0;
+#endif //SHOW_NUM_DEEP_PENETRATIONS
+
+	gNumClampedCcdMotions = 0;
+	int numObjects = 0;
+	int i;
+
+	if (m_dynamicsWorld)
+	{
+		numObjects = m_dynamicsWorld->getNumCollisionObjects();
+
+		///create a copy of the array, not a reference!
+		btCollisionObjectArray copyArray = m_dynamicsWorld->getCollisionObjectArray();
+
+		for (i=0;i<numObjects;i++)
+		{
+			btCollisionObject* colObj = copyArray[i];
+			btRigidBody* body = btRigidBody::upcast(colObj);
+			if (body)
+			{
+				if (body->getMotionState())
+				{
+					btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
+					myMotionState->m_graphicsWorldTrans = myMotionState->m_startWorldTrans;
+					body->setCenterOfMassTransform( myMotionState->m_graphicsWorldTrans );
+					colObj->setInterpolationWorldTransform( myMotionState->m_startWorldTrans );
+					colObj->forceActivationState(ACTIVE_TAG);
+					colObj->activate();
+					colObj->setDeactivationTime(0);
+					//colObj->setActivationState(WANTS_DEACTIVATION);
+				}
+				//removed cached contact points (this is not necessary if all objects have been removed from the dynamics world)
+				//m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(colObj->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
+
+				btRigidBody* body = btRigidBody::upcast(colObj);
+				if (body && !body->isStaticObject())
+				{
+					btRigidBody::upcast(colObj)->setLinearVelocity(btVector3(0,0,0));
+					btRigidBody::upcast(colObj)->setAngularVelocity(btVector3(0,0,0));
+				}
+			}
+
+		}
+
+		///reset some internal cached data in the broadphase
+		m_dynamicsWorld->getBroadphase()->resetPool(getDynamicsWorld()->getDispatcher());
+		m_dynamicsWorld->getConstraintSolver()->reset();
+
+	}
+
+}
+
+void LocalGui::updateModifierKeys()
+{
+	m_modifierKeys = 0;
+	if (glutGetModifiers() & GLUT_ACTIVE_ALT)
+		m_modifierKeys |= BT_ACTIVE_ALT;
+
+	if (glutGetModifiers() & GLUT_ACTIVE_CTRL)
+		m_modifierKeys |= BT_ACTIVE_CTRL;
+
+	if (glutGetModifiers() & GLUT_ACTIVE_SHIFT)
+		m_modifierKeys |= BT_ACTIVE_SHIFT;
+}
+
+void LocalGui::specialKeyboard(int key, int x, int y)
+{
+	m_dynamicsWorld = m_env
+->getDynamicsWorld();
+
+	(void)x;
+	(void)y;
+
+	switch (key)
+	{
+	case GLUT_KEY_F1:
+		{
+
+			break;
+		}
+
+	case GLUT_KEY_F2:
+		{
+
+			break;
+		}
+
+
+	case GLUT_KEY_END:
+		{
+			int numObj = getDynamicsWorld()->getNumCollisionObjects();
+			if (numObj)
+			{
+				btCollisionObject* obj = getDynamicsWorld()->getCollisionObjectArray()[numObj-1];
+
+				getDynamicsWorld()->removeCollisionObject(obj);
+				btRigidBody* body = btRigidBody::upcast(obj);
+				if (body && body->getMotionState())
+				{
+					delete body->getMotionState();
+				}
+				delete obj;
+
+
+			}
+			break;
+		}
+	case GLUT_KEY_LEFT : stepLeft(); break;
+	case GLUT_KEY_RIGHT : stepRight(); break;
+	case GLUT_KEY_UP : stepFront(); break;
+	case GLUT_KEY_DOWN : stepBack(); break;
+	case GLUT_KEY_PAGE_UP : zoomIn(); break;
+	case GLUT_KEY_PAGE_DOWN : zoomOut(); break;
+	case GLUT_KEY_HOME : toggleIdle(); break;
+	default:
+		//        std::cout << "unused (special) key : " << key << std::endl;
+		break;
+	}
+
+	glutPostRedisplay();
+
+}
+
+void LocalGui::swapBuffers()
+{
+	glutSwapBuffers();
+
+}
+
+void LocalGui::clientMoveAndDisplay()
+{
+	m_dynamicsWorld = m_env
+->getDynamicsWorld();
+
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+	///simple dynamics world doesn't handle fixed-time-stepping
+	float ms = getDeltaTimeMicroseconds();
+	///step the simulation
+	if (m_dynamicsWorld)
+	{
+		m_dynamicsWorld->stepSimulation(ms / 1000000.f);
+		//optional but useful: debug drawing
+		m_dynamicsWorld->debugDrawWorld();
+	}
+
+	renderme();
+
+	glFlush();
+	glutSwapBuffers();
+}
+
+void LocalGui::displayCallback(void) {
+	m_dynamicsWorld = m_env
+->getDynamicsWorld();
+
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+	renderme();
+	//optional but useful: debug drawing to detect problems
+	if (m_dynamicsWorld)
+		m_dynamicsWorld->debugDrawWorld();
+	glFlush();
+	glutSwapBuffers();
+}
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/LocalGui.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/LocalGui.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/LocalGui.h	(revision 167)
@@ -0,0 +1,221 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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 LOCALGUI_H
+#define LOCALGUI_H
+
+
+#include "Gui.h"
+#include "GlutStuff.h"
+#include "GL_ShapeDrawer.h"
+#include "GLDebugDrawer.h"
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <math.h>
+
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btMatrix3x3.h"
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btQuickprof.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+#include "Environment.h"
+
+class	btCollisionShape;
+class	btDynamicsWorld;
+class	btRigidBody;
+class	btTypedConstraint;
+
+class btBroadphaseInterface;
+class btCollisionShape;
+class btOverlappingPairCache;
+class btCollisionDispatcher;
+class btConstraintSolver;
+struct btCollisionAlgorithmCreateFunc;
+class btDefaultCollisionConfiguration;
+
+class LocalGui : public Gui
+{
+	void displayProfileString(int xOffset,int yStart,char* message);
+	class CProfileIterator* m_profileIterator;
+
+
+
+protected:
+#ifdef USE_BT_CLOCK
+	btClock m_clock;
+#endif //USE_BT_CLOCK
+
+	///this is the most important class
+	btDynamicsWorld* m_dynamicsWorld;
+	///constraint for mouse picking
+	btTypedConstraint* m_pickConstraint;
+	btCollisionShape* m_shootBoxShape;
+
+	float m_cameraDistance;
+	int	m_debugMode;
+
+	float m_ele;
+	float m_azi;
+	btVector3 m_cameraPosition;
+	btVector3 m_cameraTargetPosition;//look at
+
+	int	m_mouseOldX;
+	int	m_mouseOldY;
+	int	m_mouseButtons;
+
+public:
+	int	m_modifierKeys;
+
+protected:
+
+	float m_scaleBottom;
+	float m_scaleFactor;
+	btVector3 m_cameraUp;
+	int	m_forwardAxis;
+
+	int m_glutScreenWidth;
+	int m_glutScreenHeight;
+
+	int	m_ortho;
+
+	float m_ShootBoxInitialSpeed;
+
+	bool m_stepping;
+	bool m_singleStep;
+	bool m_idle;
+	int m_lastKey;
+
+	void showProfileInfo(int& xOffset,int& yStart, int yIncr);
+	void renderscene(int pass);
+
+	GL_ShapeDrawer*	m_shapeDrawer;
+	bool			m_enableshadows;
+	btVector3		m_sundirection;
+
+public:
+
+	LocalGui(Environment *env);
+	~LocalGui();
+
+	btDynamicsWorld* getDynamicsWorld()
+	{
+		return m_env->getDynamicsWorld();
+	}
+
+	void initPhysics();
+	void exitPhysics();
+
+	void setDrawClusters(bool drawClusters) { }
+
+	void overrideGLShapeDrawer (GL_ShapeDrawer* shapeDrawer);
+
+	void setOrthographicProjection();
+	void resetPerspectiveProjection();
+
+	bool setTexturing(bool enable) { return(m_shapeDrawer->enableTexture(enable)); }
+	bool setShadows(bool enable) { bool p=m_enableshadows;m_enableshadows=enable;return(p); }
+	bool getTexturing() const {	return m_shapeDrawer->hasTextureEnabled(); }
+	bool getShadows() const { return m_enableshadows; }
+
+
+	int	getDebugMode() { return m_debugMode ; }
+
+	void setDebugMode(int mode);
+
+	void setAzi(float azi) { m_azi = azi; }
+
+	void setCameraUp(const btVector3& camUp) { m_cameraUp = camUp; }
+	void setCameraForwardAxis(int axis) { m_forwardAxis = axis; }
+
+	void init();
+
+	void toggleIdle();
+
+	void updateCamera();
+
+	btVector3	getCameraPosition()
+	{
+		return m_cameraPosition;
+	}
+	btVector3	getCameraTargetPosition()
+	{
+		return m_cameraTargetPosition;
+	}
+
+	btScalar	getDeltaTimeMicroseconds()
+	{
+#ifdef USE_BT_CLOCK
+		btScalar dt = m_clock.getTimeMicroseconds();
+		m_clock.reset();
+		return dt;
+#else
+		return btScalar(16666.);
+#endif
+	}
+
+	float getCameraDistance();
+	void setCameraDistance(float dist);
+
+	///glut callbacks
+	void moveAndDisplay();
+
+	void clientMoveAndDisplay();
+	void clientResetScene();
+
+	///Demo functions
+	void setShootBoxShape ();
+	void shootBox(const btVector3& destination);
+
+	btVector3 getRayTo(int x,int y);
+	btRigidBody* localCreateRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape);
+
+	///callback methods by glut
+	void keyboardCallback(unsigned char key, int x, int y);
+	void keyboardUpCallback(unsigned char key, int x, int y) { };
+	void specialKeyboard(int key, int x, int y);
+	void specialKeyboardUp(int key, int x, int y) { };
+	void reshape(int w, int h);
+	void mouseFunc(int button, int state, int x, int y);
+	void mouseMotionFunc(int x,int y);
+
+	void displayCallback();
+
+	void renderme();
+	void swapBuffers();
+	void updateModifierKeys();
+
+	void stepLeft();
+	void stepRight();
+	void stepFront();
+	void stepBack();
+	void zoomIn();
+	void zoomOut();
+
+	bool isIdle() const
+	{
+		return	m_idle;
+	}
+
+	void setIdle(bool idle)
+	{
+		m_idle = idle;
+	}
+
+
+};
+
+#endif
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/MPIChannel.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/MPIChannel.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/MPIChannel.cpp	(revision 167)
@@ -0,0 +1,53 @@
+#include <stdio.h>
+#include "MPIChannel.h"
+
+
+MPIChannel::MPIChannel(int dest, int tag, MPI_Comm comm)
+: Channel()
+{
+	m_dest = dest;
+	m_tag = tag;
+	m_comm = comm;
+}
+
+MPIChannel::~MPIChannel()
+{
+}
+
+MPI_Comm MPIChannel::getMPIComm()
+{
+	return m_comm;
+}
+
+int MPIChannel::getDest()
+{
+	return m_dest;
+}
+
+int MPIChannel::getTag()
+{
+	return m_tag;
+}
+
+int MPIChannel::read(void *buf, channel_datatype_t datatype, size_t count)
+{
+	MPI_Status status;
+	MPI_Recv(buf, count, datatype, m_dest, m_tag, MPI_COMM_WORLD, &status);
+	return 0;
+}
+
+int MPIChannel::write(const void *buf, channel_datatype_t datatype, size_t count)
+{
+	MPI_Send((void *) buf, count, datatype, m_dest, m_tag, MPI_COMM_WORLD);
+	return 0;
+}
+
+int MPIChannel::available()
+{
+	int flag;
+	MPI_Status status;
+
+	MPI_Iprobe(m_dest, m_tag, MPI_COMM_WORLD, &flag, &status);
+
+	return flag;
+}
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/MPIChannel.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/MPIChannel.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/MPIChannel.h	(revision 167)
@@ -0,0 +1,33 @@
+#ifndef MPICHANNEL_H
+#define MPICHANNEL_H
+
+#include <mpi.h>
+#include "Channel.h"
+
+
+class MPIChannel : public Channel
+{
+
+private:
+	MPI_Comm m_comm;
+	int m_dest;
+	int m_tag;
+
+public:
+
+	MPIChannel(int dest, int tag, MPI_Comm comm);
+	~MPIChannel();
+
+	MPI_Comm getMPIComm();
+	int getDest();
+	int getTag();
+
+	int read(void *buf, channel_datatype_t datatype, size_t count);
+
+	int write(const void *buf, channel_datatype_t datatype, size_t count);
+
+	int available();
+
+};
+
+#endif //MPIChannel
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/Master.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/Master.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/Master.cpp	(revision 167)
@@ -0,0 +1,220 @@
+#include "Master.h"
+#include "CommChannelProvider.h"
+#include <stdio.h>
+#include <string.h>
+#include <typeinfo>
+
+Master::Master(Environment *bullet, int nprocs)
+: m_nprocs(nprocs),
+m_bullet(bullet),
+m_running(false)
+{
+}
+
+Master::~Master()
+{
+}
+
+/** Wait for "Hello" - messages from all agents which joined the world */
+void Master::discoverAgents()
+{
+	MPI_Status status;
+	int i, j;
+	int id;
+	for(i = 0; i < WIDTH; i++)
+	{
+		for(j = 0; j < HEIGHT; j++)
+		{
+			MPI_Recv(&id, 1, MPI_INT, MPI_ANY_SOURCE, HELLO_MSG, MPI_COMM_WORLD, &status);
+			//printf("Process %d joined the virtual world at %d,%d\n", id, i, j);
+			positionID.insert(make_pair(id, make_pair(i, j)));
+		}
+	}
+}
+
+/** Return the process id associated with a given position in mesh */
+int Master::getID(int i, int j)
+{
+	for(int k = 1; k < m_nprocs; k++)
+	{
+		pair<int, int> pos = positionID[k];
+		if(i == pos.first && j == pos.second)
+			return k;
+	}
+
+	return -1;
+}
+
+void Master::sendHello(int id)
+{
+	vector<channelData> currentList;
+	int i;
+
+	/// Pack all the sensors/actuators of a certain id
+	for(i = 0; i < (int) xList.size(); i++)
+	{
+		XProvider *provider = xList[i];
+		MPIChannel *channel = (MPIChannel *) provider->getChannel();
+		int dest = channel->getDest();
+		if(dest == id || (!strcmp(typeid(*provider).name(), "19CommChannelProvider") && ((CommChannelProvider *) provider)->getPeer() == id)) {
+			channelData data;
+			provider->packData(&data, id);
+			data.tag = channel->getTag();
+			currentList.push_back(data);
+		}
+	}
+
+	/// Send to a certain id process the init data for running the agent
+
+	int size = (int) currentList.size();
+	int intSize, floatSize;
+	MPI_Pack_size(1, MPI_INT, MPI_COMM_WORLD, &intSize);
+	MPI_Pack_size(1, MPI_FLOAT, MPI_COMM_WORLD, &floatSize);
+
+	int bufSize = size * (4 * intSize + 3 * floatSize);
+	char *buffer = (char*) malloc(bufSize);
+	int position = 0;
+
+	for(i = 0; i < size; i++)
+	{
+		channelData *tmp = &currentList[i];
+
+		MPI_Pack(&tmp->tag, 1, MPI_INT, buffer, bufSize, &position, MPI_COMM_WORLD);
+		MPI_Pack(&tmp->type, 1, MPI_INT, buffer, bufSize, &position, MPI_COMM_WORLD);
+		MPI_Pack(&tmp->orient, 1, MPI_INT, buffer, bufSize, &position, MPI_COMM_WORLD);
+		MPI_Pack(&tmp->dest, 1, MPI_INT, buffer, bufSize, &position, MPI_COMM_WORLD);
+		MPI_Pack(&tmp->minAngle, 1, MPI_FLOAT, buffer, bufSize, &position, MPI_COMM_WORLD);
+		MPI_Pack(&tmp->maxAngle, 1, MPI_FLOAT, buffer, bufSize, &position, MPI_COMM_WORLD);
+		MPI_Pack(&tmp->angle, 1, MPI_FLOAT, buffer, bufSize, &position, MPI_COMM_WORLD);
+	}
+
+	MPI_Send(&size, 1, MPI_INT, id, CHANNEL_MSG, MPI_COMM_WORLD);
+	MPI_Send(buffer, position, MPI_PACKED, id, CHANNEL_MSG, MPI_COMM_WORLD);
+}
+
+/** Send to all workers their channels parameters */
+int Master::sendAll()
+{
+	int i;
+
+	for (i = 1; i < m_nprocs; i++) {
+		sendHello(i);
+	}
+
+	for (i = 1; i < m_nprocs; i++) {
+		MPI_Send(&i, 1, MPI_INT, i, CHANNEL_MSG, MPI_COMM_WORLD);
+	}
+
+	return 1;
+}
+
+void Master::createProviders()
+{
+	int i, j, tag = FIRST_CHANNEL_TAG;
+
+	for(i = 0; i < WIDTH; i++) {
+		for(j = 0; j < HEIGHT; j++) {
+			int idx;
+
+			if(i < WIDTH - 1) {
+				idx = m_bullet->getMatrix()[i * HEIGHT + j][RIGHT];
+ 				//printf("RIGHT: (%d, %d) - %d\n", i, j, right);
+				btHingeConstraint *joint = (btHingeConstraint*)m_bullet->getJoints()[idx];
+				int id = getID(i, j);
+				Channel *channel = new MPIChannel(id, tag, MPI_COMM_WORLD);
+				SensorProvider *s = new SensorProvider(channel, joint, RIGHT);
+				xList.push_back(s);
+				ActuatorProvider *a = new ActuatorProvider(channel, joint, RIGHT);
+				xList.push_back(a);
+				tag++;
+			}
+
+			if(i > 0) {
+				idx = m_bullet->getMatrix()[i * HEIGHT + j][LEFT];
+ 				//printf("LEFT: (%d, %d) - %d\n", i, j, left);
+				btHingeConstraint *joint = (btHingeConstraint*)m_bullet->getJoints()[idx];
+				int id = getID(i, j);
+				Channel *channel = new MPIChannel(id, tag, MPI_COMM_WORLD);
+				SensorProvider *s = new SensorProvider(channel, joint, LEFT);
+				xList.push_back(s);
+				ActuatorProvider *a = new ActuatorProvider(channel, joint, LEFT);
+				xList.push_back(a);
+				tag++;
+				Channel *comm_channel = new MPIChannel(id, tag, MPI_COMM_WORLD);
+				CommChannelProvider *c = new CommChannelProvider(comm_channel, id, getID(i-1, j), LEFT);
+//				printf("creating channel: %d - %d\n", id, getID(i-1, j));
+				xList.push_back(c);
+				tag++;
+			}
+
+			if(j < HEIGHT - 1) {
+				idx = m_bullet->getMatrix()[i * HEIGHT + j][DOWN];
+ 				//printf("DOWN: (%d, %d) - %d\n", i, j, down);
+				btHingeConstraint *joint = (btHingeConstraint*)m_bullet->getJoints()[idx];
+				int id = getID(i, j);
+				Channel *channel = new MPIChannel(id, tag, MPI_COMM_WORLD);
+				SensorProvider *s = new SensorProvider(channel, joint, DOWN);
+				xList.push_back(s);
+				ActuatorProvider *a = new ActuatorProvider(channel, joint, DOWN);
+				xList.push_back(a);
+				tag++;
+			}
+
+			if(j > 0) {
+				idx = m_bullet->getMatrix()[i * HEIGHT + j][UP];
+ 				//printf("UP: (%d, %d) - %d\n", i, j, up);
+				btHingeConstraint *joint = (btHingeConstraint*)m_bullet->getJoints()[idx];
+				int id = getID(i, j);
+				Channel *channel = new MPIChannel(id, tag, MPI_COMM_WORLD);
+				SensorProvider *s = new SensorProvider(channel, joint, UP);
+				xList.push_back(s);
+				ActuatorProvider *a = new ActuatorProvider(channel, joint, UP);
+				xList.push_back(a);
+				tag++;
+				Channel *comm_channel = new MPIChannel(id, tag, MPI_COMM_WORLD);
+				CommChannelProvider *c = new CommChannelProvider(comm_channel, id, getID(i, j-1), UP);
+//				printf("creating channel: %d - %d\n", id, getID(i, j-1));
+				xList.push_back(c);
+				tag++;
+			}
+		}
+	}
+}
+
+void Master::run()
+{
+	int i, dummy, stop = 0;
+	MPI_Status status;
+
+	m_running = true;
+
+	while (!stop) {
+		for (i = 0; i < (int) xList.size(); i++) {
+			XProvider *provider = xList[i];
+			provider->updatePre();
+		}
+
+		if (!m_running) {
+			stop = 1;
+		}
+
+		for (i = 1; i < m_nprocs; i++) {
+			MPI_Send(&stop, 1, MPI_INT, i, SYNC_MSG, MPI_COMM_WORLD);
+		}
+
+		for (i = 1; i < m_nprocs; i++) {
+			MPI_Recv(&dummy, 1, MPI_INT, MPI_ANY_SOURCE, SYNC_MSG, MPI_COMM_WORLD, &status);
+		}
+
+		for (i = 0; i < (int) xList.size(); i++) {
+			XProvider *provider = xList[i];
+			provider->updatePost();
+		}
+	}
+}
+
+void Master::stop()
+{
+	while (!m_running) ;
+	m_running = false;
+}
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/Master.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/Master.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/Master.h	(revision 167)
@@ -0,0 +1,68 @@
+#ifndef MASTER_H
+#define MASTER_H
+
+#include <vector>
+#include <map>
+#include <utility>
+#include <list>
+
+#include <mpi.h>
+
+#include "btBulletDynamicsCommon.h"
+#include "MPIChannel.h"
+
+#include "SensorProvider.h"
+#include "ActuatorProvider.h"
+#include "CommChannelProvider.h"
+
+#include "Sensor.h"
+#include "Actuator.h"
+#include "SimpleAgent.h"
+#include "CommChannel.h"
+
+#include "Environment.h"
+#include "constants.h"
+
+#include "Gui.h"
+
+using namespace std;
+
+
+typedef struct {
+    btScalar m[16];
+    btMatrix3x3 rot;
+    btVector3  aabbMin,aabbMax;
+    btCollisionShape *shape;
+} WorldObject;
+
+class Master {
+private:
+	WorldObject data;
+	pair<int, int> x;
+
+	vector<XProvider *> xList;
+
+	map<int, pair<int, int> > positionID;
+
+	int m_nprocs;
+	Environment *m_bullet;
+	Gui *m_gui;
+	bool m_running;
+
+public:
+	Master(Environment *bullet, int nprocs);
+	~Master();
+
+	int sendAll();
+	void run();
+	void stop();
+
+	int getID(int i, int j);
+	void discoverAgents();
+	void createProviders();
+	void sendHello(int id);
+
+};
+
+
+#endif //MASTER_H
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/RemoteGui.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/RemoteGui.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/RemoteGui.cpp	(revision 167)
@@ -0,0 +1,401 @@
+#include "RemoteGui.h"
+#include <BulletCollision/CollisionShapes/btShapeHull.h>
+
+RemoteGui::RemoteGui(Environment *env)
+: Gui(env), m_addCounter(0)
+{
+	m_dynamicsWorld = env->getDynamicsWorld();
+}
+
+RemoteGui::~RemoteGui()
+{
+}
+
+void RemoteGui::init(int port)
+{
+	printf("Initializing remote gui...\n");
+
+	struct sockaddr_in serv_addr;
+
+	sockfd = socket(AF_INET, SOCK_STREAM, 0);
+
+	memset((char *) &serv_addr, 0, sizeof(serv_addr));
+	serv_addr.sin_family = AF_INET;
+	serv_addr.sin_addr.s_addr = INADDR_ANY;	// foloseste adresa IP a masinii
+	serv_addr.sin_port = htons(port);
+
+	if (bind(sockfd, (struct sockaddr *) &serv_addr, sizeof(struct sockaddr)) < 0) {
+			printf("Error binding!\n");
+			exit(0);
+	 }
+}
+
+int RemoteGui::equal(guiUpdateData *e1, guiUpdateData *e2)
+{
+	for (int i = 0; i < 16; ++ i) {
+		if (e1->m[i] != e2->m[i])
+			return 0;
+	}
+
+	if (e1->aabbMin != e2->aabbMin)
+		return 0;
+
+	if (e1->aabbMax != e2->aabbMax)
+		return 0;
+
+	for (int i = 0; i < 3; ++ i) {
+		for (int j = 0; j < 3; ++ j) {
+			if (e1->rot[i][j] != e2->rot[i][j])
+				return 0;
+		}
+	}
+
+//	if (e1->rot != e2->rot)
+//		return 0;
+
+	return 1;
+}
+
+//int RemoteGui::getGuiData(guiData **gd_out)
+int RemoteGui::getGuiData(map<void *, guiAddData *> &addObjects, map<void *, guiUpdateData *> &updateObjects, vector<int> &removeObjects)
+{
+	int numObjects = m_dynamicsWorld->getNumCollisionObjects();
+
+//	guiData *gd = new guiData[numObjects];
+
+	// temp map - created to test for removed objects
+	map<void *, guiUpdateData *> temp;
+
+//	getchar();
+	for (int i = 0; i < numObjects; ++ i)
+	{
+		guiUpdateData *elem = new guiUpdateData;
+
+		btCollisionObject *colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody *body = btRigidBody::upcast(colObj);
+		if(body && body->getMotionState())
+		{
+			btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
+			myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(elem->m);
+			elem->rot = myMotionState->m_graphicsWorldTrans.getBasis();
+		}
+		else
+		{
+			colObj->getWorldTransform().getOpenGLMatrix(elem->m);
+			elem->rot = colObj->getWorldTransform().getBasis();
+		}
+
+		m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(elem->aabbMin, elem->aabbMax);
+
+		map<void *, guiUpdateData *>::iterator it = m_cache.find((void *) colObj);
+
+		// check for new or updated objects
+		if (it == m_cache.end()) {
+			// add new object
+			guiAddData *addElem = new guiAddData;
+
+			addElem->id = m_addCounter;
+			elem->id = m_addCounter ++;
+
+//			printf("[%d %d]\n", addElem->id, elem->id);
+
+			btShapeHull *hull = new btShapeHull((btConvexShape *) colObj->getCollisionShape());
+			hull->buildHull(colObj->getCollisionShape()->getMargin());
+			addElem->numIndices = hull->numIndices();
+			addElem->numVertices = hull->numVertices();
+			addElem->indexPointer = (int *) hull->getIndexPointer();
+			addElem->vertexPointer = (btVector3 *) hull->getVertexPointer();
+
+//			printf("[%d %d %d %d %f]\n", addElem->id, addElem->numIndices, addElem->indexPointer[0], addElem->numIndices, addElem->vertexPointer[0]);
+//			printf("[%d %d %d]\n", addElem->id, addElem->numIndices, addElem->numIndices);
+			printf("[%d %d %d]\n", addElem->id, hull->numIndices(), hull->numVertices());
+
+			addObjects[colObj] = addElem;
+
+			m_cache[colObj] = elem;
+
+			updateObjects[colObj] = elem;
+//			printf("%p\n", m_dynamicsWorld->getCollisionObjectArray()[i]);
+		} else {
+			// update existing object
+			if (!equal(it->second, elem)) {
+				updateObjects[colObj] = elem;
+				delete m_cache[colObj];
+				m_cache[colObj] = elem;
+			}
+		}
+
+		temp[colObj] = elem;
+	}
+
+	// check for removed objects
+	map<void *, guiUpdateData *>::iterator it = m_cache.begin();
+	while (it != m_cache.end()) {
+		if (temp.find(it->first) == temp.end()) {
+			removeObjects.push_back((*it).second->id);
+		}
+		++ it;
+	}
+
+//	*gd_out = gd;
+
+	return numObjects;
+}
+
+void RemoteGui::sendData(int sock, const void *buffer, size_t size)
+{
+	size_t total;
+	int ret;
+
+	for (total = 0; total < size; total += ret) {
+		ret = send(sock, (char *) buffer + total, size - total, 0);
+//		printf("ret = %d\n", ret);
+		if (ret <= 0) {
+			perror("send");
+			exit(-1);
+		}
+	}
+}
+
+float* RemoteGui::packScalar(btScalar s, void *buffer)
+{
+	float *buff = (float *) buffer;
+
+	*buff ++ = s;
+
+	return buff;
+}
+
+float* RemoteGui::packVector3(btVector3 v, void *buffer)
+{
+	float *buff = (float *) buffer;
+
+	buff = packScalar(v.getX(), buff);
+	buff = packScalar(v.getY(), buff);
+	buff = packScalar(v.getZ(), buff);
+
+	return buff;
+}
+
+float* RemoteGui::packMatrix3x3(btMatrix3x3 m, void *buffer)
+{
+	float *buff = (float *) buffer;
+
+	for (int i = 0; i < 3; ++ i) {
+		buff = packVector3(m[i], buff);
+	}
+
+	return buff;
+}
+
+int * RemoteGui::packInt(int i, void *buffer)
+{
+	int *buff = (int *) buffer;
+
+	*buff ++ = i;
+
+	return buff;
+}
+
+void* RemoteGui::packGuiData(guiUpdateData *gd, void *buff)
+{
+	// add id
+	buff = packInt(gd->id, buff);
+
+	// add btScalar vector
+	char *p = (char *) buff;
+	for (int i = 0; i < 16; ++ i) {
+		buff = packScalar(gd->m[i], buff);
+	}
+	for (int i = 0; i < 16; i++) {
+		printf("ZZZZZZZZZZ: i=%d: %f\n", i, *(float*)(p+sizeof(float)*i));
+	}
+
+	// add rot
+	buff = packMatrix3x3(gd->rot, buff);
+
+	// add aabbMin
+	buff = packVector3(gd->aabbMin, buff);
+
+	// add aabbMax
+	buff = packVector3(gd->aabbMax, buff);
+
+	return buff;
+}
+
+int RemoteGui::packAddData(map<void *, guiAddData *> addObjects, void **buffer)
+{
+//	printf("Packing add data!\n");
+	void *temp, *buff;
+	int i;
+
+	map<void *, guiAddData *>::iterator it = addObjects.begin();
+
+	int size = 0;
+
+	for ( ; it != addObjects.end(); it ++) {
+		guiAddData *obj = (*it).second;
+
+		size += sizeof(int);
+		size += sizeof(int);
+		size += sizeof(int) * obj->numIndices;
+		size += sizeof(int);
+		size += sizeof(float) * 3 * obj->numVertices;
+	}
+
+	buff = new char [size];
+	temp = buff;
+
+	it = addObjects.begin();
+	for ( ; it != addObjects.end(); it ++) {
+		guiAddData *obj = (*it).second;
+
+		// add id
+		temp = packInt(obj->id, temp);
+//		printf("packing: obj->id = %d\n", obj->id);
+
+		// add indexPointer
+		temp = packInt(obj->numIndices, temp);
+		for (i = 0; i < obj->numIndices; ++ i) {
+			temp = packInt(obj->indexPointer[i], temp);
+		}
+
+		// add vertexPointer
+		temp = packInt(obj->numVertices, temp);
+		for (i = 0; i < obj->numVertices; ++ i) {
+			temp = packVector3(obj->vertexPointer[i], temp);
+		}
+	}
+
+	*buffer = buff;
+
+	return size;
+}
+
+int RemoteGui::packUpdateData(map<void *, guiUpdateData *> updateObjects, void **buffer)
+{
+	void *temp, *buff;
+
+	map<void *, guiUpdateData *>::iterator it = updateObjects.begin();
+
+	int size = 0;
+
+	for ( ; it != updateObjects.end(); it ++) {
+		size += sizeof(int) + sizeof(float) * (16 + 9 + 3 + 3);
+	}
+
+	buff = new char [size];
+	temp = buff;
+
+	it = updateObjects.begin();
+	for ( ; it != updateObjects.end(); it ++) {
+		guiUpdateData *obj = (*it).second;
+		temp = packGuiData(obj, temp);
+	}
+
+	*buffer = buff;
+
+	return size;
+}
+
+int RemoteGui::packRemoveData(vector<int> removeObjects, void **buffer)
+{
+	void *temp, *buff;
+
+	vector<int>::iterator it = removeObjects.begin();
+
+	int size = sizeof(int) * removeObjects.size();
+
+	buff = new int[size];
+	temp = buff;
+
+	for ( ; it != removeObjects.end(); it ++) {
+		temp = packInt((*it), temp);
+	}
+
+	*buffer = buff;
+
+	return size;
+}
+
+void RemoteGui::run()
+{
+	printf("Running remote gui...\n");
+
+	int n;
+//	char buffer[256];
+	map<void *, guiAddData *> addObjects;
+	map<void *, guiUpdateData *> updateObjects;
+	vector<int> removeObjects;
+
+	struct sockaddr_in cli_addr;
+
+	listen(sockfd, MAX_CLIENTS);
+
+     int clilen = sizeof(struct sockaddr_in);
+     int newsockfd = accept(sockfd,
+                 (struct sockaddr *) &cli_addr,
+                 (socklen_t *) &clilen);
+
+	if (newsockfd < 0) {
+		printf("Error accepting connection!\n");
+		exit(0);
+	}
+
+	n = send(newsockfd, SERVER_BANNER, strlen(SERVER_BANNER), 0);
+	if (n < 0) {
+		printf("Error writing to socket\n");
+		exit(0);
+	}
+
+     while (1) {
+		char q;
+
+		n = recv(newsockfd, (void*) &q, 1, 0);
+     	if (n < 0) {
+			printf("Error reading from socket\n");
+			exit(0);
+		}
+
+     	if (n == 0) {
+			printf("Client left \n");
+     	    break;
+		}
+
+		addObjects.clear();
+		updateObjects.clear();
+		removeObjects.clear();
+		n = getGuiData(addObjects, updateObjects, removeObjects);
+
+		void *buff;
+
+		n = addObjects.size();
+		sendData(newsockfd, (const void *) &n, sizeof(int));
+		int sizeAddData = packAddData(addObjects, &buff);
+		sendData(newsockfd, (const void *) &sizeAddData, sizeof(int));
+		sendData(newsockfd, (const void *) buff, sizeAddData);
+		delete [] (char *) buff;
+
+		n = updateObjects.size();
+		sendData(newsockfd, (const void *) &n, sizeof(int));
+		int sizeUpdateData = packUpdateData(updateObjects, &buff);
+		sendData(newsockfd, (const void *) &sizeUpdateData, sizeof(int));
+		sendData(newsockfd, (const void *) buff, sizeUpdateData);
+		delete [] (char *) buff;
+
+		n = removeObjects.size();
+		sendData(newsockfd, (const void *) &n, sizeof(int));
+		int sizeRemoveData = packRemoveData(removeObjects, &buff);
+		sendData(newsockfd, (const void *) &sizeRemoveData, sizeof(int));
+		sendData(newsockfd, (const void *) buff, sizeRemoveData);
+		delete [] (int *) buff;
+
+		printf("Sent data!\n");
+
+		m_dynamicsWorld->stepSimulation(0.1);
+
+     }
+
+     close(sockfd);
+     close(newsockfd);
+}
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/RemoteGui.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/RemoteGui.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/RemoteGui.h	(revision 167)
@@ -0,0 +1,73 @@
+#ifndef REMOTEGUI_H
+#define REMOTEGUI_H
+
+#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+
+#include "Gui.h"
+#include "Environment.h"
+
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+
+#define YES	"Yes"
+#define NO	"No"
+#define SERVER_BANNER	"SIMEO Remote GUI at duty!"
+#define MAX_CLIENTS 1
+
+
+typedef struct {
+	int id;
+	btScalar m[16];
+	btMatrix3x3 rot;
+	btVector3 aabbMin, aabbMax;
+} guiUpdateData;
+
+typedef struct {
+	int id;
+	int numVertices;
+	int numIndices;
+	btVector3 *vertexPointer;
+	int *indexPointer;
+} guiAddData;
+
+class RemoteGui : public Gui
+{
+private:
+	int sockfd;
+	int m_addCounter;
+
+	map<void *, guiUpdateData *> m_cache;
+//	map<int,guiAddData> m_add;
+//	map<int,guiData> m_update;
+//	vector<int> m_remove;
+
+//	int getGuiData(guiUpdateData **gd);
+	int getGuiData(map<void *, guiAddData *> &addObjects, map<void *, guiUpdateData *> &updateObjects, vector<int> &removeObjects);
+	void sendData(int sock, const void *buffer, size_t size);
+
+	int equal(guiUpdateData *e1, guiUpdateData *e2);
+
+	// packing functions
+	float* packScalar(btScalar s, void *buffer);
+	int* packInt(int i, void *buffer);
+	float* packVector3(btVector3 v, void *buffer);
+	float* packMatrix3x3(btMatrix3x3 m, void *buffer);
+	void* packGuiData(guiUpdateData *gd, void *buff);
+	int packAddData(map<void *, guiAddData *> addObjects, void **buffer);
+	int packUpdateData(map<void *, guiUpdateData *> updateObjects, void **buffer);
+	int packRemoveData(vector<int> removeObjects, void **buffer);
+
+protected:
+	btDynamicsWorld *m_dynamicsWorld;
+
+public:
+	RemoteGui(Environment *env);
+	~RemoteGui();
+
+	void init(int port);
+	void run();
+};
+
+#endif
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/Sensor.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/Sensor.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/Sensor.cpp	(revision 167)
@@ -0,0 +1,26 @@
+#include <stdio.h>
+#include "Sensor.h"
+
+
+Sensor::Sensor(Channel *chan, channelData *data)
+: X(chan)
+{
+	m_data = new channelData(*data);
+}
+
+Sensor::~Sensor()
+{
+	delete m_data;
+}
+
+channelData *Sensor::getData()
+{
+	return m_data;
+}
+
+void Sensor::update()
+{
+	float angle;
+	m_chan->read(&angle, MPI_FLOAT, 1);
+	m_data->angle = angle;
+}
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/Sensor.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/Sensor.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/Sensor.h	(revision 167)
@@ -0,0 +1,28 @@
+#ifndef SENSOR_H
+#define SENSOR_H
+
+#include "btBulletDynamicsCommon.h"
+
+#include "Channel.h"
+#include "X.h"
+
+
+
+class Sensor : public X
+{
+private:
+	btHingeConstraint *m_joint;
+	int m_orient;
+	channelData *m_data;
+
+public:
+	Sensor(Channel *chan, channelData *data);
+	~Sensor();
+
+	void update();
+
+	channelData *getData();
+
+};
+
+#endif //SENSOR_H
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/SensorProvider.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/SensorProvider.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/SensorProvider.cpp	(revision 167)
@@ -0,0 +1,39 @@
+#include <stdio.h>
+#include "SensorProvider.h"
+
+
+SensorProvider::SensorProvider(Channel *chan, btHingeConstraint *joint, int orient)
+: XProvider(chan)
+{
+	m_joint = joint;
+	m_orient = orient;
+}
+
+SensorProvider::~SensorProvider()
+{
+}
+
+btHingeConstraint *SensorProvider::getConstraint()
+{
+	return m_joint;
+}
+
+int SensorProvider::getOrient()
+{
+	return m_orient;
+}
+
+void SensorProvider::updatePre()
+{
+	float angle = m_joint->getHingeAngle();
+	m_chan->write(&angle, MPI_FLOAT, 1);
+}
+
+void SensorProvider::packData(channelData *data, int id)
+{
+	data->angle = m_joint->getHingeAngle();
+	data->maxAngle = m_joint->getUpperLimit();
+	data->minAngle = m_joint->getLowerLimit();
+	data->orient = m_orient;
+	data->type = SENSOR;
+}
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/SensorProvider.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/SensorProvider.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/SensorProvider.h	(revision 167)
@@ -0,0 +1,28 @@
+#ifndef SENSORPROVIDER_H
+#define SENSORPROVIDER_H
+
+#include "Channel.h"
+#include "XProvider.h"
+#include "btBulletDynamicsCommon.h"
+
+#include <utility>
+
+class SensorProvider : public XProvider
+{
+private:
+	btHingeConstraint *m_joint;
+	int m_orient;
+
+public:
+	SensorProvider(Channel *chan, btHingeConstraint *joint, int orient);
+	~SensorProvider();
+
+	btHingeConstraint *getConstraint();
+	int getOrient();
+
+	void updatePre();
+
+	void packData(channelData *data, int id);
+};
+
+#endif //SENSORPROVIDER_H
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/SimpleAgent.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/SimpleAgent.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/SimpleAgent.cpp	(revision 167)
@@ -0,0 +1,127 @@
+#include <cstdlib>
+#include <assert.h>
+#include "SimpleAgent.h"
+
+SimpleAgent::SimpleAgent(vector<Sensor *> sensorList, vector<Actuator *> actuatorList, vector<CommChannel *> channelList)
+: Agent(sensorList, actuatorList, channelList),
+m_sensorLeft(NULL),
+m_sensorRight(NULL),
+m_sensorUp(NULL),
+m_sensorDown(NULL),
+m_actuatorLeft(NULL),
+m_actuatorRight(NULL),
+m_actuatorUp(NULL),
+m_actuatorDown(NULL),
+m_channelLeft(NULL),
+m_channelRight(NULL),
+m_channelUp(NULL),
+m_channelDown(NULL),
+m_timeStep(0),
+m_timeWave(0)
+{
+	int i;
+
+	for (i = 0; i < (int) sensorList.size(); i++)
+	{
+		Sensor *sensor = sensorList[i];
+		switch (sensor->getData()->orient)
+		{
+		case LEFT:
+			m_sensorLeft = sensor;
+			break;
+		case RIGHT:
+			m_sensorRight = sensor;
+			break;
+		case UP:
+			m_sensorUp = sensor;
+			break;
+		case DOWN:
+			m_sensorDown = sensor;
+			break;
+		}
+	}
+
+	for (i = 0; i < (int) actuatorList.size(); i++)
+	{
+		Actuator *actuator = actuatorList[i];
+		switch (actuator->getData()->orient)
+		{
+		case LEFT:
+			m_actuatorLeft = actuator;
+			break;
+		case RIGHT:
+			m_actuatorRight = actuator;
+			break;
+		case UP:
+			m_actuatorUp = actuator;
+			break;
+		case DOWN:
+			m_actuatorDown = actuator;
+			break;
+		}
+	}
+
+	for (i = 0; i < (int) channelList.size(); i++)
+	{
+		CommChannel *channel = channelList[i];
+		switch (channel->getOrient())
+		{
+		case LEFT:
+			m_channelLeft = channel;
+			break;
+		case RIGHT:
+			m_channelRight = channel;
+			break;
+		case UP:
+			m_channelUp = channel;
+			break;
+		case DOWN:
+			m_channelDown = channel;
+			break;
+		}
+	}
+}
+
+SimpleAgent::~SimpleAgent()
+{
+}
+
+void SimpleAgent::step()
+{
+	int rank;
+
+	MPI_Comm_rank(MPI_COMM_WORLD, &rank);
+
+	if (m_actuatorLeft) {
+		float p = (float) (PI * sin(PI / 4 * 2 * local - m_timeStep * PI / 100));
+		m_actuatorLeft->setTargetAngle(p);
+	}
+	if (m_actuatorRight) {
+		float p = (float) (PI * sin(PI / 4 * (2 * local + 1) - m_timeStep * PI / 100));
+		m_actuatorRight->setTargetAngle(p);
+	}
+	if (m_actuatorUp) {
+		m_actuatorUp->setTargetAngle(0);
+	}
+	if (m_actuatorDown) {
+		m_actuatorDown->setTargetAngle(0);
+	}
+
+	int x = 0;
+
+	if(!m_channelLeft) {
+		if(!m_timeStep)	x = 1;
+	} else if(m_channelLeft->getChannel()->available()) {
+		m_channelLeft->getChannel()->read(&x, MPI_INT, 1);
+//		printf("[%d] received %d\n", rank, x);
+		m_timeWave = m_timeStep;
+		local = x;
+	}
+	if(m_channelRight && x) {
+//		printf("[%d] sent %d\n", rank, x);
+		x++;
+		m_channelRight->getChannel()->write(&x, MPI_INT, 1);
+	}
+
+	m_timeStep++;
+}
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/SimpleAgent.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/SimpleAgent.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/SimpleAgent.h	(revision 167)
@@ -0,0 +1,32 @@
+#ifndef SIMPLEAGENT_H
+#define SIMPLEAGENT_H
+
+#include <vector>
+#include "Sensor.h"
+#include "Actuator.h"
+#include "CommChannel.h"
+#include "Agent.h"
+
+using namespace std;
+
+
+class SimpleAgent : public Agent
+{
+private:
+	Sensor *m_sensorLeft, *m_sensorRight, *m_sensorUp, *m_sensorDown;
+	Actuator *m_actuatorLeft, *m_actuatorRight, *m_actuatorUp, *m_actuatorDown;
+	CommChannel *m_channelLeft, *m_channelRight, *m_channelUp, *m_channelDown;
+
+	int m_timeStep, m_timeWave;
+	int local;
+
+public:
+	SimpleAgent(vector<Sensor *> sensorList, vector<Actuator *> actuatorList, vector<CommChannel *> channelList);
+	~SimpleAgent();
+
+	void step();
+
+};
+
+
+#endif //SIMPLEAGENT_H
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/SimpleDemo.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/SimpleDemo.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/SimpleDemo.cpp	(revision 167)
@@ -0,0 +1,124 @@
+///create 125 (5x5x5) dynamic object
+#include "SimpleDemo.h"
+#include "btBulletDynamicsCommon.h"
+#include "GLDebugDrawer.h"
+
+#include <mpi.h>
+#include <stdio.h>
+#include <map>
+#include <string>
+#include <vector>
+
+using namespace std;
+
+btCollisionShape* groundShape;
+btTransform groundTransform;
+btCollisionShape* colShape;
+
+bool enable1, enable2;
+bool simpleSimulation;
+bool debugConstraints;
+
+
+void SimpleDemo::clientMoveAndDisplay()
+{
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+	//simple dynamics world doesn't handle fixed-time-stepping
+	float ms = getDeltaTimeMicroseconds();
+	///step the simulation
+	if (m_dynamicsWorld)
+	{
+		m_dynamicsWorld->stepSimulation(ms / 1000000.f);
+		//optional but useful: debug drawing
+		m_dynamicsWorld->debugDrawWorld();
+	}
+
+	renderme();
+
+	glFlush();
+	glutSwapBuffers();
+}
+
+
+void SimpleDemo::displayCallback(void) {
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+	renderme();
+	//optional but useful: debug drawing to detect problems
+	if (m_dynamicsWorld)
+		m_dynamicsWorld->debugDrawWorld();
+	glFlush();
+	glutSwapBuffers();
+}
+
+void SimpleDemo::initPhysics() {
+
+	m_ele = 75;
+	updateCamera();
+
+	setTexturing(true);
+	setShadows(true);
+	setCameraDistance(btScalar(40.));
+
+	m_collisionConfiguration = new btDefaultCollisionConfiguration();
+	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+	m_broadphase = new btDbvtBroadphase();
+	btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
+	m_solver = sol;
+
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
+	m_dynamicsWorld->setGravity(btVector3(0,-10,0));
+
+	groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+	m_collisionShapes.push_back(groundShape);
+
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0,-50,0));
+
+	btScalar mass(0.);
+	//rigidbody is dynamic if and only if mass is non zero, otherwise static
+	bool isDynamic = (mass != 0.f);
+	btVector3 localInertia(0,0,0);
+	if (isDynamic)
+		groundShape->calculateLocalInertia(mass,localInertia);
+
+	//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+	btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
+	btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
+	btRigidBody* body = new btRigidBody(rbInfo);
+
+	//add the body to the dynamics world
+	m_dynamicsWorld->addRigidBody(body);
+
+	m_dynamicsWorld->setDebugDrawer(new GLDebugDrawer());
+}
+
+void SimpleDemo::exitPhysics()
+{
+	int i;
+	for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
+	{
+		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody* body = btRigidBody::upcast(obj);
+		if (body && body->getMotionState())
+		{
+			delete body->getMotionState();
+		}
+		m_dynamicsWorld->removeCollisionObject( obj );
+		delete obj;
+	}
+
+	//delete collision shapes
+	for (int j=0;j<m_collisionShapes.size();j++)
+	{
+		btCollisionShape* shape = m_collisionShapes[j];
+		delete shape;
+	}
+
+	delete m_dynamicsWorld;
+	delete m_solver;
+	delete m_broadphase;
+	delete m_dispatcher;
+	delete m_collisionConfiguration;
+}
+
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/SimpleDemo.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/SimpleDemo.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/SimpleDemo.h	(revision 167)
@@ -0,0 +1,56 @@
+#ifndef SIMPLEDEMO_H
+#define SIMPLEDEMO_H
+
+#include "GLDebugDrawer.h"
+#include "GlutDemoApplication.h"
+#include <LinearMath/btAlignedObjectArray.h>
+#include <utility>
+
+using namespace std;
+
+class btBroadphaseInterface;
+class btCollisionShape;
+class btOverlappingPairCache;
+class btCollisionDispatcher;
+class btConstraintSolver;
+struct btCollisionAlgorithmCreateFunc;
+class btDefaultCollisionConfiguration;
+
+///BasicDemo is good starting point for learning the code base and porting.
+class SimpleDemo : public GlutDemoApplication
+{
+	//keep the collision shapes, for deletion/cleanup
+	btAlignedObjectArray<btCollisionShape*>	m_collisionShapes;
+	btBroadphaseInterface*	m_broadphase;
+	btCollisionDispatcher*	m_dispatcher;
+	btConstraintSolver*	m_solver;
+	btDefaultCollisionConfiguration* m_collisionConfiguration;
+
+public:
+
+	SimpleDemo()
+	{
+	}
+	virtual ~SimpleDemo()
+	{
+		exitPhysics();
+	}
+
+	void initPhysics();
+	void exitPhysics();
+
+	void debug();
+	virtual void clientMoveAndDisplay();
+	virtual void displayCallback();
+
+	static LocalGui* Create()
+	{
+		SimpleDemo* demo = new SimpleDemo;
+		demo->myinit();
+		demo->initPhysics();
+		return demo;
+	}
+};
+
+#endif //SIMPLEDEMO_H
+
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/X.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/X.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/X.cpp	(revision 167)
@@ -0,0 +1,17 @@
+#include <stdio.h>
+#include "X.h"
+
+X::X(Channel *chan)
+{
+	m_chan = chan;
+}
+
+X::~X()
+{
+	delete m_chan;
+}
+
+Channel *X::getChannel()
+{
+	return m_chan;
+}
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/X.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/X.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/X.h	(revision 167)
@@ -0,0 +1,22 @@
+#ifndef X_H
+#define X_H
+
+#include "Channel.h"
+
+
+class X
+{
+protected:
+	Channel *m_chan;
+
+public:
+	X(Channel *chan);
+	~X();
+
+	virtual void updatePre() { };
+	virtual void updatePost() { };
+
+	Channel *getChannel();
+};
+
+#endif//X_H
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/XProvider.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/XProvider.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/XProvider.cpp	(revision 167)
@@ -0,0 +1,19 @@
+#include <stdio.h>
+#include "XProvider.h"
+
+
+XProvider::XProvider(Channel *chan)
+{
+	m_chan = chan;
+
+}
+
+XProvider::~XProvider()
+{
+	delete m_chan;
+}
+
+Channel *XProvider::getChannel()
+{
+	return m_chan;
+}
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/XProvider.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/XProvider.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/XProvider.h	(revision 167)
@@ -0,0 +1,27 @@
+#ifndef XPROVIDER_H
+#define XPROVIDER_H
+
+#include "Channel.h"
+#include "constants.h"
+
+#include "btBulletDynamicsCommon.h"
+
+class XProvider
+{
+protected:
+	Channel *m_chan;
+
+
+
+public:
+	XProvider(Channel *chan);
+	~XProvider();
+
+	Channel *getChannel();
+
+	virtual void updatePre() { };
+	virtual void updatePost() { };
+	virtual void packData(channelData *data, int id) { };
+};
+
+#endif //XPROVIDER_H
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/constants.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/constants.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/constants.h	(revision 167)
@@ -0,0 +1,34 @@
+#ifndef CONSTANTS_H
+#define CONSTANTS_H
+
+#define WIDTH				10
+#define HEIGHT				2
+#define MAX_PROCS			(WIDTH * HEIGHT)
+
+#define MASTER_ID			0
+
+#define HELLO_MSG			0
+#define CHANNEL_MSG			1
+#define SYNC_MSG			2
+#define SENSOR_MSG			3
+#define ACTUATOR_MSG		4
+#define COMM_CHANNEL_MSG	5
+
+#define SENSOR				1
+#define ACTUATOR			2
+#define COMM_CHANNEL		3
+
+#define SCALING				2
+
+
+#define PI					3.14159265
+
+#define FIRST_CHANNEL_TAG	100
+
+#define CHANNEL_AGENT		99
+
+typedef enum {
+	LEFT=0, RIGHT=1, UP=2, DOWN=3
+} SensorDirection;
+
+#endif // CONSTANTS_Hq
Index: /proiecte/SIMEO/Simeo/src/SimeoEngine/main.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoEngine/main.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoEngine/main.cpp	(revision 167)
@@ -0,0 +1,204 @@
+#include <stdio.h>
+#include <pthread.h>
+#include <mpi.h>
+#include "constants.h"
+#include "Master.h"
+#include "Environment.h"
+#include "BulletObject.h"
+#include "SimpleAgent.h"
+
+#ifndef USE_REMOTE_GUI
+#define USE_REMOTE_GUI	0
+#endif
+
+#if USE_REMOTE_GUI
+#include "RemoteGui.h"
+#else
+#include "LocalGui.h"
+#endif
+
+typedef struct {
+	int argc;
+	char **argv;
+	Environment *env;
+} threadParam;
+
+int rank, nprocs = MAX_PROCS;
+MPI_Status status;
+Master *master;
+
+pthread_t guiThread, masterThread;
+
+void cleanup()
+{
+	while (!master) ;
+	master->stop();
+	while (1) ;
+}
+
+void *guiThreadCode(void *args)
+{
+	threadParam *param = (threadParam*) args;
+
+	char **argv = param->argv;
+	int argc = param->argc;
+	Environment *env = param->env;
+
+#if USE_REMOTE_GUI
+	if (argc != 2) {
+		fprintf(stderr, "Usage: %s <port>\n", argv[0]);
+		cleanup();
+		return NULL;
+	}
+
+	RemoteGui *rg = new RemoteGui(env);
+	rg->init(atoi(param->argv[1]));
+	rg->run();
+
+	cleanup();
+
+#else
+	atexit(cleanup);
+	int ret = glutmain(argc, argv, env);
+
+	if(ret < 0) {
+		fprintf(stderr, "Error creating LocalGui\n");
+		cleanup();
+		return NULL;
+	}
+#endif
+
+	return NULL;
+}
+
+static void runMaster(int argc, char **argv) {
+	/// Initialize the virtual world environment
+	Environment *env = new Environment();
+
+	env->setupEnvironment();
+	env->createMagicCarpet(WIDTH, HEIGHT);
+
+	/// Pack gui-thread parameters in structure
+	threadParam param;
+	param.argv = argv;
+	param.argc = argc;
+	param.env = env;
+
+	/// Run pthread for gui object
+	pthread_create(&guiThread, NULL, guiThreadCode,	&param);
+
+	master = new Master(env, nprocs);
+	master->discoverAgents();
+	master->createProviders();
+	master->sendAll();
+
+	MPI_Barrier(MPI_COMM_WORLD);
+
+	master->run();
+}
+
+static void runSlave()
+{
+	int size;
+	vector<Sensor *> sensorList;
+	vector<Actuator *> actuatorList;
+	vector<CommChannel *> channelList;
+
+	MPI_Comm_rank(MPI_COMM_WORLD, &rank);
+
+	// send hello-message: mpi-thread rank
+	MPI_Send(&rank, 1, MPI_INT, MASTER_ID, HELLO_MSG, MPI_COMM_WORLD);
+
+	// wait to receive from master the number of channels to be created
+	MPI_Recv(&size, 1, MPI_INT, 0, CHANNEL_MSG, MPI_COMM_WORLD, &status);
+
+	// allocate buffer
+	int intSize, floatSize;
+	MPI_Pack_size(1, MPI_INT, MPI_COMM_WORLD, &intSize);
+	MPI_Pack_size(1, MPI_FLOAT, MPI_COMM_WORLD, &floatSize);
+
+	int bufSize = size * (4 * intSize + 3 * floatSize);
+	char *buffer = (char*) malloc(bufSize);
+
+	// wait to receive the list of channels parameters
+	MPI_Recv(buffer, bufSize, MPI_PACKED, 0, CHANNEL_MSG, MPI_COMM_WORLD, &status);
+
+	// debug info
+	int n_sensors=0, n_actuators=0, n_channels=0;
+	int i;
+	int position = 0;
+
+	//printf("RECV : %d - ", rank);
+	for(i = 0; i < size; i++)
+	{
+		Sensor *x;
+		Actuator *y;
+		CommChannel *z;
+		Channel *channel;
+		channelData cparam;
+
+		MPI_Unpack(buffer, bufSize, &position, &cparam.tag, 1, MPI_INT, MPI_COMM_WORLD);
+		MPI_Unpack(buffer, bufSize, &position, &cparam.type, 1, MPI_INT, MPI_COMM_WORLD);
+		MPI_Unpack(buffer, bufSize, &position, &cparam.orient, 1, MPI_INT, MPI_COMM_WORLD);
+		MPI_Unpack(buffer, bufSize, &position, &cparam.dest, 1, MPI_INT, MPI_COMM_WORLD);
+		MPI_Unpack(buffer, bufSize, &position, &cparam.minAngle, 1, MPI_FLOAT, MPI_COMM_WORLD);
+		MPI_Unpack(buffer, bufSize, &position, &cparam.maxAngle, 1, MPI_FLOAT, MPI_COMM_WORLD);
+		MPI_Unpack(buffer, bufSize, &position, &cparam.angle, 1, MPI_FLOAT, MPI_COMM_WORLD);
+
+		//printf("%d ", cparam.tag);
+		switch(cparam.type) {
+			case SENSOR:
+				channel = new MPIChannel(status.MPI_SOURCE, cparam.tag, MPI_COMM_WORLD);
+				x = new Sensor(channel, &cparam);
+				sensorList.push_back(x);
+				n_sensors++;
+				break;
+			case ACTUATOR:
+				channel = new MPIChannel(status.MPI_SOURCE, cparam.tag, MPI_COMM_WORLD);
+				y = new Actuator(channel, &cparam);
+				actuatorList.push_back(y);
+				n_actuators++;
+				break;
+			case COMM_CHANNEL:
+				channel = new MPIChannel(cparam.dest, cparam.tag, MPI_COMM_WORLD);
+				z = new CommChannel(channel, cparam.orient);
+				channelList.push_back(z);
+				n_channels++;
+				break;
+			default: break;
+		}
+	}
+
+	SimpleAgent *agent = new SimpleAgent(sensorList, actuatorList, channelList);
+
+	int ret;
+	MPI_Recv(&ret, 1, MPI_INT, 0, CHANNEL_MSG, MPI_COMM_WORLD, &status);
+	printf("Agent %d [%d] is running with %d sensors, %d actuators and %d channels\n", rank, ret, n_sensors, n_actuators, n_channels);
+
+	MPI_Barrier(MPI_COMM_WORLD);
+
+	agent->run();
+}
+
+
+int main(int argc, char **argv)
+{
+	/// MPI initial stuff
+	MPI_Init(&argc, &argv);
+	MPI_Comm_size(MPI_COMM_WORLD, &nprocs);
+	MPI_Comm_rank(MPI_COMM_WORLD, &rank);
+
+	/// Distribute the tasks
+	if(rank == MASTER_ID) {
+		printf("Starting SimeoEngine....\n");
+		runMaster(argc, argv);
+	} else {
+		runSlave();
+	}
+
+	MPI_Finalize();
+
+	return 0;
+}
+
+
Index: /proiecte/SIMEO/Simeo/src/SimeoGui/CMakeLists.txt
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoGui/CMakeLists.txt	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoGui/CMakeLists.txt	(revision 167)
@@ -0,0 +1,20 @@
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -g")
+
+link_libraries(
+	BulletDynamics
+	BulletCollision
+	LinearMath
+	glut
+	pthread
+)
+
+add_executable(SimeoGui
+	main.cpp
+
+	DemoApplication.cpp
+	GLDebugDrawer.cpp
+	GLDebugFont.cpp
+	GL_ShapeDrawer.cpp
+	GlutStuff.cpp
+	GuiUpdater.cpp
+)
Index: /proiecte/SIMEO/Simeo/src/SimeoGui/DemoApplication.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoGui/DemoApplication.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoGui/DemoApplication.cpp	(revision 167)
@@ -0,0 +1,1623 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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 "DemoApplication.h"
+#include "LinearMath/btIDebugDraw.h"
+#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
+
+#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"//picking
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "BulletCollision/CollisionShapes/btBoxShape.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
+#include "BulletCollision/CollisionShapes/btCompoundShape.h"
+#include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
+#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
+#include "GL_ShapeDrawer.h"
+#include "LinearMath/btQuickprof.h"
+#include "LinearMath/btDefaultMotionState.h"
+
+#include "GLDebugFont.h"
+
+
+extern bool gDisableDeactivation;
+int numObjects = 0;
+const int maxNumObjects = 16384;
+btTransform startTransforms[maxNumObjects];
+btCollisionShape* gShapePtr[maxNumObjects];//1 rigidbody has 1 shape (no re-use of shapes)
+#define SHOW_NUM_DEEP_PENETRATIONS 1
+
+extern int gNumClampedCcdMotions;
+
+#ifdef SHOW_NUM_DEEP_PENETRATIONS
+extern int gNumDeepPenetrationChecks;
+
+extern int gNumSplitImpulseRecoveries;
+extern int gNumGjkChecks;
+extern int gNumAlignedAllocs;
+extern int gNumAlignedFree;
+extern int gTotalBytesAlignedAllocs;
+
+#endif //
+
+
+DemoApplication::DemoApplication()
+//see btIDebugDraw.h for modes
+:
+//m_dynamicsWorld(0),
+m_pickConstraint(0),
+m_shootBoxShape(0),
+m_cameraDistance(15.0),
+m_debugMode(0),
+m_ele(20.f),
+m_azi(0.f),
+m_cameraPosition(0.f,0.f,0.f),
+m_cameraTargetPosition(0.f,0.f,0.f),
+m_scaleBottom(0.5f),
+m_scaleFactor(2.f),
+m_cameraUp(0,1,0),
+m_forwardAxis(2),
+m_glutScreenWidth(0),
+m_glutScreenHeight(0),
+m_ShootBoxInitialSpeed(40.f),
+m_stepping(true),
+m_singleStep(false),
+m_idle(false),
+m_enableshadows(false),
+m_sundirection(btVector3(1,-2,1)*1000),
+m_ortho(0),
+m_mouseOldX(0),
+m_mouseOldY(0),
+m_mouseButtons(0),
+m_modifierKeys(0),
+m_textureinitialized(false),
+m_textureenabled(true)
+{
+#ifndef BT_NO_PROFILE
+	m_profileIterator = CProfileManager::Get_Iterator();
+#endif //BT_NO_PROFILE
+
+	m_shapeDrawer = new GL_ShapeDrawer ();
+	m_shapeDrawer->enableTexture(true);
+	m_enableshadows = false;
+
+	m_ele = 75;
+	updateCamera();
+	setCameraDistance(btScalar(20));
+}
+
+
+
+DemoApplication::~DemoApplication()
+{
+#ifndef BT_NO_PROFILE
+	CProfileManager::Release_Iterator(m_profileIterator);
+#endif //BT_NO_PROFILE
+
+	if (m_shootBoxShape)
+		delete m_shootBoxShape;
+
+	if (m_shapeDrawer)
+		delete m_shapeDrawer;
+}
+
+
+void DemoApplication::overrideGLShapeDrawer (GL_ShapeDrawer* shapeDrawer)
+{
+	shapeDrawer->enableTexture (m_shapeDrawer->hasTextureEnabled());
+	delete m_shapeDrawer;
+	m_shapeDrawer = shapeDrawer;
+}
+
+void DemoApplication::myinit(void)
+{
+
+	GLfloat light_ambient[] = { 0.2, 0.2, 0.2, 1.0 };
+	GLfloat light_diffuse[] = { 1.0, 1.0, 1.0, 1.0 };
+	GLfloat light_specular[] = { 1.0, 1.0, 1.0, 1.0 };
+	/*	light_position is NOT default value	*/
+	GLfloat light_position0[] = { 1.0, 10.0, 1.0, 0.0 };
+	GLfloat light_position1[] = { -1.0, -10.0, -1.0, 0.0 };
+
+	glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
+	glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
+	glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);
+	glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
+
+	glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient);
+	glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse);
+	glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular);
+	glLightfv(GL_LIGHT1, GL_POSITION, light_position1);
+
+	glEnable(GL_LIGHTING);
+	glEnable(GL_LIGHT0);
+	glEnable(GL_LIGHT1);
+
+
+	glShadeModel(GL_SMOOTH);
+	glEnable(GL_DEPTH_TEST);
+	glDepthFunc(GL_LESS);
+
+	glClearColor(0.7,0.7,0.7,0);
+
+	//  glEnable(GL_CULL_FACE);
+	//  glCullFace(GL_BACK);
+}
+
+
+void	DemoApplication::setCameraDistance(float dist)
+{
+	m_cameraDistance  = dist;
+}
+
+float	DemoApplication::getCameraDistance()
+{
+	return m_cameraDistance;
+}
+
+
+
+void DemoApplication::toggleIdle() {
+	if (m_idle) {
+		m_idle = false;
+	}
+	else {
+		m_idle = true;
+	}
+}
+
+
+
+
+void DemoApplication::updateCamera() {
+
+
+	glMatrixMode(GL_PROJECTION);
+	glLoadIdentity();
+	float rele = m_ele * 0.01745329251994329547;// rads per deg
+	float razi = m_azi * 0.01745329251994329547;// rads per deg
+
+
+	btQuaternion rot(m_cameraUp,razi);
+
+
+	btVector3 eyePos(0,0,0);
+	eyePos[m_forwardAxis] = -m_cameraDistance;
+
+	btVector3 forward(eyePos[0],eyePos[1],eyePos[2]);
+	if (forward.length2() < SIMD_EPSILON)
+	{
+		forward.setValue(1.f,0.f,0.f);
+	}
+	btVector3 right = m_cameraUp.cross(forward);
+	btQuaternion roll(right,-rele);
+
+	eyePos = btMatrix3x3(rot) * btMatrix3x3(roll) * eyePos;
+
+	m_cameraPosition[0] = eyePos.getX();
+	m_cameraPosition[1] = eyePos.getY();
+	m_cameraPosition[2] = eyePos.getZ();
+	m_cameraPosition += m_cameraTargetPosition;
+
+	if (m_glutScreenWidth == 0 && m_glutScreenHeight == 0)
+		return;
+
+	btScalar aspect;
+	btVector3 extents;
+
+	if (m_glutScreenWidth > m_glutScreenHeight)
+	{
+		aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
+		extents.setValue(aspect * 1.0f, 1.0f,0);
+	} else
+	{
+		aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth;
+		extents.setValue(1.0f, aspect*1.f,0);
+	}
+
+
+	if (m_ortho)
+	{
+		// reset matrix
+		glLoadIdentity();
+
+
+		extents *= m_cameraDistance;
+		btVector3 lower = m_cameraTargetPosition - extents;
+		btVector3 upper = m_cameraTargetPosition + extents;
+		//gluOrtho2D(lower.x, upper.x, lower.y, upper.y);
+		glOrtho(lower.getX(), upper.getX(), lower.getY(), upper.getY(),-1000,1000);
+
+		glMatrixMode(GL_MODELVIEW);
+		glLoadIdentity();
+		//glTranslatef(100,210,0);
+	} else
+	{
+		if (m_glutScreenWidth > m_glutScreenHeight)
+		{
+			glFrustum (-aspect, aspect, -1.0, 1.0, 1.0, 10000.0);
+		} else
+		{
+			glFrustum (-1.0, 1.0, -aspect, aspect, 1.0, 10000.0);
+		}
+		glMatrixMode(GL_MODELVIEW);
+		glLoadIdentity();
+		gluLookAt(m_cameraPosition[0], m_cameraPosition[1], m_cameraPosition[2],
+			m_cameraTargetPosition[0], m_cameraTargetPosition[1], m_cameraTargetPosition[2],
+			m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
+	}
+
+}
+
+
+
+const float STEPSIZE = 5;
+
+void DemoApplication::stepLeft()
+{
+	m_azi -= STEPSIZE; if (m_azi < 0) m_azi += 360; updateCamera();
+}
+void DemoApplication::stepRight()
+{
+	m_azi += STEPSIZE; if (m_azi >= 360) m_azi -= 360; updateCamera();
+}
+void DemoApplication::stepFront()
+{
+	m_ele += STEPSIZE; if (m_ele >= 360) m_ele -= 360; updateCamera();
+}
+void DemoApplication::stepBack()
+{
+	m_ele -= STEPSIZE; if (m_ele < 0) m_ele += 360; updateCamera();
+}
+void DemoApplication::zoomIn()
+{
+	m_cameraDistance -= 0.4; updateCamera();
+	if (m_cameraDistance < 0.1)
+		m_cameraDistance = 0.1;
+
+}
+void DemoApplication::zoomOut()
+{
+	m_cameraDistance += 0.4; updateCamera();
+
+}
+
+void DemoApplication::reshape(int w, int h)
+{
+	GLDebugResetFont(w,h);
+
+	m_glutScreenWidth = w;
+	m_glutScreenHeight = h;
+
+	glViewport(0, 0, w, h);
+	updateCamera();
+}
+
+void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
+{
+	(void)x;
+	(void)y;
+
+	m_lastKey = 0;
+
+#ifndef BT_NO_PROFILE
+	if (key >= 0x31 && key <= 0x39)
+	{
+		int child = key-0x31;
+		m_profileIterator->Enter_Child(child);
+	}
+	if (key==0x30)
+	{
+		m_profileIterator->Enter_Parent();
+	}
+#endif //BT_NO_PROFILE
+
+	switch (key)
+	{
+	case 'q' :
+#ifdef BT_USE_FREEGLUT
+		//return from glutMainLoop(), detect memory leaks etc.
+		glutLeaveMainLoop();
+#else
+		exit(0);
+#endif
+		break;
+
+	case 'l' : stepLeft(); break;
+	case 'r' : stepRight(); break;
+	case 'f' : stepFront(); break;
+	case 'b' : stepBack(); break;
+	case 'z' : zoomIn(); break;
+	case 'x' : zoomOut(); break;
+	case 'i' : toggleIdle(); break;
+	case 'g' : m_enableshadows=!m_enableshadows;break;
+	case 'u' : m_shapeDrawer->enableTexture(!m_shapeDrawer->enableTexture(false));break;
+	case 'h':
+		if (m_debugMode & btIDebugDraw::DBG_NoHelpText)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoHelpText);
+		else
+			m_debugMode |= btIDebugDraw::DBG_NoHelpText;
+		break;
+
+	case 'w':
+		if (m_debugMode & btIDebugDraw::DBG_DrawWireframe)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawWireframe);
+		else
+			m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
+		break;
+
+	case 'p':
+		if (m_debugMode & btIDebugDraw::DBG_ProfileTimings)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_ProfileTimings);
+		else
+			m_debugMode |= btIDebugDraw::DBG_ProfileTimings;
+		break;
+
+	case 'm':
+		if (m_debugMode & btIDebugDraw::DBG_EnableSatComparison)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableSatComparison);
+		else
+			m_debugMode |= btIDebugDraw::DBG_EnableSatComparison;
+		break;
+
+	case 'n':
+		if (m_debugMode & btIDebugDraw::DBG_DisableBulletLCP)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DisableBulletLCP);
+		else
+			m_debugMode |= btIDebugDraw::DBG_DisableBulletLCP;
+		break;
+
+	case 't' :
+		if (m_debugMode & btIDebugDraw::DBG_DrawText)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawText);
+		else
+			m_debugMode |= btIDebugDraw::DBG_DrawText;
+		break;
+	case 'y':
+		if (m_debugMode & btIDebugDraw::DBG_DrawFeaturesText)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawFeaturesText);
+		else
+			m_debugMode |= btIDebugDraw::DBG_DrawFeaturesText;
+		break;
+	case 'a':
+		if (m_debugMode & btIDebugDraw::DBG_DrawAabb)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawAabb);
+		else
+			m_debugMode |= btIDebugDraw::DBG_DrawAabb;
+		break;
+	case 'c' :
+		if (m_debugMode & btIDebugDraw::DBG_DrawContactPoints)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawContactPoints);
+		else
+			m_debugMode |= btIDebugDraw::DBG_DrawContactPoints;
+		break;
+	case 'C' :
+		if (m_debugMode & btIDebugDraw::DBG_DrawConstraints)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawConstraints);
+		else
+			m_debugMode |= btIDebugDraw::DBG_DrawConstraints;
+		break;
+	case 'L' :
+		if (m_debugMode & btIDebugDraw::DBG_DrawConstraintLimits)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawConstraintLimits);
+		else
+			m_debugMode |= btIDebugDraw::DBG_DrawConstraintLimits;
+		break;
+
+	case 'd' :
+		if (m_debugMode & btIDebugDraw::DBG_NoDeactivation)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoDeactivation);
+		else
+			m_debugMode |= btIDebugDraw::DBG_NoDeactivation;
+		if (m_debugMode & btIDebugDraw::DBG_NoDeactivation)
+		{
+			gDisableDeactivation = true;
+		} else
+		{
+			gDisableDeactivation = false;
+		}
+		break;
+
+
+
+
+	case 'o' :
+		{
+			m_ortho = !m_ortho;//m_stepping = !m_stepping;
+			break;
+		}
+	case 's' : clientMoveAndDisplay(); break;
+		//    case ' ' : newRandom(); break;
+	case ' ':
+		clientResetScene();
+		break;
+	case '1':
+		{
+			if (m_debugMode & btIDebugDraw::DBG_EnableCCD)
+				m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableCCD);
+			else
+				m_debugMode |= btIDebugDraw::DBG_EnableCCD;
+			break;
+		}
+
+	case '.':
+		{
+			shootBox(getRayTo(x,y));//getCameraTargetPosition());
+			break;
+		}
+
+	case '+':
+		{
+			m_ShootBoxInitialSpeed += 10.f;
+			break;
+		}
+	case '-':
+		{
+			m_ShootBoxInitialSpeed -= 10.f;
+			break;
+		}
+
+	default:
+		//        std::cout << "unused key : " << key << std::endl;
+		break;
+	}
+
+//	if (getDynamicsWorld() && getDynamicsWorld()->getDebugDrawer())
+//		getDynamicsWorld()->getDebugDrawer()->setDebugMode(m_debugMode);
+
+
+
+}
+
+void	DemoApplication::setDebugMode(int mode)
+{
+	m_debugMode = mode;
+//	if (getDynamicsWorld() && getDynamicsWorld()->getDebugDrawer())
+//		getDynamicsWorld()->getDebugDrawer()->setDebugMode(mode);
+}
+
+
+
+void DemoApplication::clientMoveAndDisplay()
+{
+		glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+		renderme();
+
+		glFlush();
+		glutSwapBuffers();
+}
+
+
+void DemoApplication::moveAndDisplay()
+{
+	if (!m_idle)
+		clientMoveAndDisplay();
+	else
+ 		displayCallback();
+}
+
+
+
+
+void DemoApplication::displayCallback()
+{
+}
+
+#define NUM_SPHERES_ON_DIAGONAL 9
+
+void	DemoApplication::setShootBoxShape ()
+{
+	if (!m_shootBoxShape)
+	{
+		m_shootBoxShape = new btBoxShape(btVector3(.5f,.5f,.5f));
+	}
+}
+
+void	DemoApplication::shootBox(const btVector3& destination)
+{
+	/*
+	if (m_dynamicsWorld)
+	{
+		float mass = 1.f;
+		btTransform startTransform;
+		startTransform.setIdentity();
+		btVector3 camPos = getCameraPosition();
+		startTransform.setOrigin(camPos);
+
+		setShootBoxShape ();
+
+		btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_shootBoxShape);
+		body->setLinearFactor(btVector3(1,1,1));
+
+		btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
+		linVel.normalize();
+		linVel*=m_ShootBoxInitialSpeed;
+
+		body->getWorldTransform().setOrigin(camPos);
+		body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
+		body->setLinearVelocity(linVel);
+		body->setAngularVelocity(btVector3(0,0,0));
+		body->setCcdMotionThreshold(1.);
+		body->setCcdSweptSphereRadius(0.2f);
+	}
+	*/
+}
+
+
+int gPickingConstraintId = 0;
+btVector3 gOldPickingPos;
+btVector3 gHitPos(-1,-1,-1);
+float gOldPickingDist  = 0.f;
+btRigidBody* pickedBody = 0;//for deactivation state
+
+
+btVector3	DemoApplication::getRayTo(int x,int y)
+{
+
+
+
+	if (m_ortho)
+	{
+
+		btScalar aspect;
+		btVector3 extents;
+		if (m_glutScreenWidth > m_glutScreenHeight)
+		{
+			aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
+			extents.setValue(aspect * 1.0f, 1.0f,0);
+		} else
+		{
+			aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth;
+			extents.setValue(1.0f, aspect*1.f,0);
+		}
+
+		extents *= m_cameraDistance;
+		btVector3 lower = m_cameraTargetPosition - extents;
+		btVector3 upper = m_cameraTargetPosition + extents;
+
+		btScalar u = x / btScalar(m_glutScreenWidth);
+		btScalar v = (m_glutScreenHeight - y) / btScalar(m_glutScreenHeight);
+
+		btVector3	p(0,0,0);
+		p.setValue((1.0f - u) * lower.getX() + u * upper.getX(),(1.0f - v) * lower.getY() + v * upper.getY(),m_cameraTargetPosition.getZ());
+		return p;
+	}
+
+	float top = 1.f;
+	float bottom = -1.f;
+	float nearPlane = 1.f;
+	float tanFov = (top-bottom)*0.5f / nearPlane;
+	float fov = 2.0 * atanf (tanFov);
+
+	btVector3	rayFrom = getCameraPosition();
+	btVector3 rayForward = (getCameraTargetPosition()-getCameraPosition());
+	rayForward.normalize();
+	float farPlane = 10000.f;
+	rayForward*= farPlane;
+
+	btVector3 rightOffset;
+	btVector3 vertical = m_cameraUp;
+
+	btVector3 hor;
+	hor = rayForward.cross(vertical);
+	hor.normalize();
+	vertical = hor.cross(rayForward);
+	vertical.normalize();
+
+	float tanfov = tanf(0.5f*fov);
+
+
+	hor *= 2.f * farPlane * tanfov;
+	vertical *= 2.f * farPlane * tanfov;
+
+	btScalar aspect;
+
+	if (m_glutScreenWidth > m_glutScreenHeight)
+	{
+		aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
+
+		hor*=aspect;
+	} else
+	{
+		aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth;
+		vertical*=aspect;
+	}
+
+
+	btVector3 rayToCenter = rayFrom + rayForward;
+	btVector3 dHor = hor * 1.f/float(m_glutScreenWidth);
+	btVector3 dVert = vertical * 1.f/float(m_glutScreenHeight);
+
+
+	btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
+	rayTo += x * dHor;
+	rayTo -= y * dVert;
+	return rayTo;
+}
+
+btScalar mousePickClamping = 30.f;
+
+
+void DemoApplication::mouseFunc(int button, int state, int x, int y)
+{
+	if (state == 0)
+	{
+        m_mouseButtons |= 1<<button;
+    } else
+	{
+        m_mouseButtons = 0;
+    }
+
+	m_mouseOldX = x;
+    m_mouseOldY = y;
+
+	updateModifierKeys();
+	if ((m_modifierKeys& BT_ACTIVE_ALT) && (state==0))
+	{
+		return;
+	}
+
+	//printf("button %i, state %i, x=%i,y=%i\n",button,state,x,y);
+	//button 0, state 0 means left mouse down
+
+	btVector3 rayTo = getRayTo(x,y);
+
+	switch (button)
+	{
+	case 2:
+		{
+			if (state==0)
+			{
+
+				shootBox(rayTo);
+			}
+			break;
+		};
+	case 1:
+		{
+
+
+			if (state==0)
+			{
+
+#if 0
+				//apply an impulse
+				if (m_dynamicsWorld)
+				{
+					btCollisionWorld::ClosestRayResultCallback rayCallback(m_cameraPosition,rayTo);
+					m_dynamicsWorld->rayTest(m_cameraPosition,rayTo,rayCallback);
+					if (rayCallback.hasHit())
+					{
+
+						btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
+						if (body)
+						{
+							body->setActivationState(ACTIVE_TAG);
+							btVector3 impulse = rayTo;
+							impulse.normalize();
+							float impulseStrength = 10.f;
+							impulse *= impulseStrength;
+							btVector3 relPos = rayCallback.m_hitPointWorld - body->getCenterOfMassPosition();
+							body->applyImpulse(impulse,relPos);
+						}
+					}
+				}
+#endif
+
+
+
+			} else
+			{
+
+			}
+			break;
+		}
+	case 0:
+		{
+
+#if 0
+			if (state==0)
+			{
+				//add a point to point constraint for picking
+				if (m_dynamicsWorld)
+				{
+
+					btVector3 rayFrom;
+					if (m_ortho)
+					{
+						rayFrom = rayTo;
+						rayFrom.setZ(-100.f);
+					} else
+					{
+						rayFrom = m_cameraPosition;
+					}
+
+					btCollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo);
+					m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback);
+					if (rayCallback.hasHit())
+					{
+
+
+						btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
+						if (body)
+						{
+							//other exclusions?
+							if (!(body->isStaticObject() || body->isKinematicObject()))
+							{
+								pickedBody = body;
+								pickedBody->setActivationState(DISABLE_DEACTIVATION);
+
+
+								btVector3 pickPos = rayCallback.m_hitPointWorld;
+								printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
+
+
+								btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
+
+								btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,localPivot);
+								p2p->m_setting.m_impulseClamp = mousePickClamping;
+
+								m_dynamicsWorld->addConstraint(p2p);
+								m_pickConstraint = p2p;
+
+								//save mouse position for dragging
+								gOldPickingPos = rayTo;
+								gHitPos = pickPos;
+
+								gOldPickingDist  = (pickPos-rayFrom).length();
+
+								//very weak constraint for picking
+								p2p->m_setting.m_tau = 0.1f;
+							}
+						}
+					}
+				}
+
+			} else
+			{
+
+				if (m_pickConstraint && m_dynamicsWorld)
+				{
+					m_dynamicsWorld->removeConstraint(m_pickConstraint);
+					delete m_pickConstraint;
+					//printf("removed constraint %i",gPickingConstraintId);
+					m_pickConstraint = 0;
+					pickedBody->forceActivationState(ACTIVE_TAG);
+					pickedBody->setDeactivationTime( 0.f );
+					pickedBody = 0;
+				}
+
+
+			}
+#endif
+
+			break;
+
+		}
+	default:
+		{
+		}
+	}
+
+}
+
+void	DemoApplication::mouseMotionFunc(int x,int y)
+{
+/*
+	if (m_pickConstraint)
+	{
+		//move the constraint pivot
+		btPoint2PointConstraint* p2p = static_cast<btPoint2PointConstraint*>(m_pickConstraint);
+		if (p2p)
+		{
+			//keep it at the same picking distance
+
+			btVector3 newRayTo = getRayTo(x,y);
+			btVector3 rayFrom;
+			btVector3 oldPivotInB = p2p->getPivotInB();
+			btVector3 newPivotB;
+			if (m_ortho)
+			{
+				newPivotB = oldPivotInB;
+				newPivotB.setX(newRayTo.getX());
+				newPivotB.setY(newRayTo.getY());
+			} else
+			{
+				rayFrom = m_cameraPosition;
+				btVector3 dir = newRayTo-rayFrom;
+				dir.normalize();
+				dir *= gOldPickingDist;
+
+				newPivotB = rayFrom + dir;
+			}
+
+
+
+			p2p->setPivotB(newPivotB);
+		}
+
+	}
+*/
+
+	float dx, dy;
+    dx = x - m_mouseOldX;
+    dy = y - m_mouseOldY;
+
+
+	///only if ALT key is pressed (Maya style)
+	if (m_modifierKeys& BT_ACTIVE_ALT)
+	{
+		if(m_mouseButtons & 2)
+		{
+			btVector3 hor = getRayTo(0,0)-getRayTo(1,0);
+			btVector3 vert = getRayTo(0,0)-getRayTo(0,1);
+			btScalar multiplierX = 0.01;
+			btScalar multiplierY = 0.01;
+			if (m_ortho)
+			{
+				multiplierX = 1;
+				multiplierY = 1;
+			}
+
+
+			m_cameraTargetPosition += hor* dx * multiplierX;
+			m_cameraTargetPosition += vert* dy * multiplierY;
+		}
+
+		if(m_mouseButtons & (2 << 2) && m_mouseButtons & 1)
+		{
+		}
+		else if(m_mouseButtons & 1)
+		{
+			m_azi += dx * 0.2;
+			m_azi = fmodf(m_azi, 180.f);
+			m_ele += dy * 0.2;
+			m_ele = fmodf(m_ele, 180.f);
+		}
+		else if(m_mouseButtons & 4)
+		{
+			m_cameraDistance -= dy * 0.2f;
+			if (m_cameraDistance<0.1)
+				m_cameraDistance = 0.1;
+
+
+		}
+	}
+
+
+	m_mouseOldX = x;
+    m_mouseOldY = y;
+	updateCamera();
+
+
+}
+
+
+
+btRigidBody*	DemoApplication::localCreateRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape)
+{
+	btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE));
+
+	//rigidbody is dynamic if and only if mass is non zero, otherwise static
+	bool isDynamic = (mass != 0.f);
+
+	btVector3 localInertia(0,0,0);
+	if (isDynamic)
+		shape->calculateLocalInertia(mass,localInertia);
+
+	//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+
+#define USE_MOTIONSTATE 1
+#ifdef USE_MOTIONSTATE
+	btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
+
+	btRigidBody::btRigidBodyConstructionInfo cInfo(mass,myMotionState,shape,localInertia);
+
+	btRigidBody* body = new btRigidBody(cInfo);
+
+#else
+	btRigidBody* body = new btRigidBody(mass,0,shape,localInertia);
+	body->setWorldTransform(startTransform);
+#endif//
+
+//	m_dynamicsWorld->addRigidBody(body);
+
+	return body;
+}
+
+//See http://www.lighthouse3d.com/opengl/glut/index.php?bmpfontortho
+void DemoApplication::setOrthographicProjection()
+{
+
+	// switch to projection mode
+	glMatrixMode(GL_PROJECTION);
+
+	// save previous matrix which contains the
+	//settings for the perspective projection
+	glPushMatrix();
+	// reset matrix
+	glLoadIdentity();
+	// set a 2D orthographic projection
+	gluOrtho2D(0, m_glutScreenWidth, 0, m_glutScreenHeight);
+	glMatrixMode(GL_MODELVIEW);
+	glLoadIdentity();
+
+	// invert the y axis, down is positive
+	glScalef(1, -1, 1);
+	// mover the origin from the bottom left corner
+	// to the upper left corner
+	glTranslatef(0, -m_glutScreenHeight, 0);
+
+}
+
+void DemoApplication::resetPerspectiveProjection()
+{
+
+	glMatrixMode(GL_PROJECTION);
+	glPopMatrix();
+	glMatrixMode(GL_MODELVIEW);
+	updateCamera();
+}
+
+
+
+
+extern CProfileIterator * m_profileIterator;
+
+void DemoApplication::displayProfileString(int xOffset,int yStart,char* message)
+{
+	glRasterPos3f(xOffset,yStart,0);
+	GLDebugDrawString(xOffset,yStart,message);
+}
+
+
+void DemoApplication::showProfileInfo(int& xOffset,int& yStart, int yIncr)
+{
+#ifndef BT_NO_PROFILE
+
+	static double time_since_reset = 0.f;
+	if (!m_idle)
+	{
+		time_since_reset = CProfileManager::Get_Time_Since_Reset();
+	}
+
+
+	{
+		//recompute profiling data, and store profile strings
+
+		char blockTime[128];
+
+		double totalTime = 0;
+
+		int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset();
+
+		m_profileIterator->First();
+
+		double parent_time = m_profileIterator->Is_Root() ? time_since_reset : m_profileIterator->Get_Current_Parent_Total_Time();
+
+		{
+			sprintf(blockTime,"--- Profiling: %s (total running time: %.3f ms) ---",	m_profileIterator->Get_Current_Parent_Name(), parent_time );
+			displayProfileString(xOffset,yStart,blockTime);
+			yStart += yIncr;
+			sprintf(blockTime,"press number (1,2...) to display child timings, or 0 to go up to parent" );
+			displayProfileString(xOffset,yStart,blockTime);
+			yStart += yIncr;
+
+		}
+
+
+		double accumulated_time = 0.f;
+
+		for (int i = 0; !m_profileIterator->Is_Done(); m_profileIterator->Next())
+		{
+			double current_total_time = m_profileIterator->Get_Current_Total_Time();
+			accumulated_time += current_total_time;
+			double fraction = parent_time > SIMD_EPSILON ? (current_total_time / parent_time) * 100 : 0.f;
+
+			sprintf(blockTime,"%d -- %s (%.2f %%) :: %.3f ms / frame (%d calls)",
+				++i, m_profileIterator->Get_Current_Name(), fraction,
+				(current_total_time / (double)frames_since_reset),m_profileIterator->Get_Current_Total_Calls());
+			displayProfileString(xOffset,yStart,blockTime);
+			yStart += yIncr;
+			totalTime += current_total_time;
+		}
+
+		sprintf(blockTime,"%s (%.3f %%) :: %.3f ms", "Unaccounted",
+			// (min(0, time_since_reset - totalTime) / time_since_reset) * 100);
+			parent_time > SIMD_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time);
+
+		displayProfileString(xOffset,yStart,blockTime);
+		yStart += yIncr;
+
+
+
+		sprintf(blockTime,"-------------------------------------------------");
+		displayProfileString(xOffset,yStart,blockTime);
+		yStart += yIncr;
+
+	}
+#endif//BT_NO_PROFILE
+
+
+}
+
+void DemoApplication::draw(guiObject *obj, const btVector3&color)
+{
+	if (!obj->ad || !obj->ud)
+		return;
+
+	int index = 0;
+
+	glPushMatrix();
+	btglMultMatrix(obj->ud->m);
+
+	int i;
+//	printf("numIndices=%d\n", obj->ad->numIndices);
+	for (i = 0; i < 16; i++) {
+//		printf("m[%d]: %f\n", i, obj->ud->m[i]);
+	}
+	for (i = 0; i < obj->ad->numIndices; i++)
+	{
+//		printf("indexPointer[%d]: %d\n", i, obj->ad->indexPointer[i]);
+	}
+
+	if(m_textureenabled&&(!m_textureinitialized))
+	{
+		GLubyte*	image=new GLubyte[256*256*3];
+		for(int y=0;y<256;++y)
+		{
+			const int	t=y>>4;
+			GLubyte*	pi=image+y*256*3;
+			for(int x=0;x<256;++x)
+			{
+				const int		s=x>>4;
+				const GLubyte	b=180;
+				GLubyte			c=b+(((s+t)&1)&1)*(255-b);
+				pi[0]=pi[1]=pi[2]=c;pi+=3;
+			}
+		}
+
+		glGenTextures(1,(GLuint*)&m_texturehandle);
+		glBindTexture(GL_TEXTURE_2D,m_texturehandle);
+		glTexEnvf(GL_TEXTURE_ENV,GL_TEXTURE_ENV_MODE,GL_MODULATE);
+		glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR_MIPMAP_LINEAR);
+		glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR_MIPMAP_LINEAR);
+		glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_WRAP_S,GL_REPEAT);
+		glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_WRAP_T,GL_REPEAT);
+		gluBuild2DMipmaps(GL_TEXTURE_2D,3,256,256,GL_RGB,GL_UNSIGNED_BYTE,image);
+		delete[] image;
+
+		glMatrixMode(GL_TEXTURE);
+		glLoadIdentity();
+		glScalef(0.025,0.025,0.025);
+
+
+	}
+
+
+	static const GLfloat	planex[]={1,0,0,0};
+//	static const GLfloat	planey[]={0,1,0,0};
+	static const GLfloat	planez[]={0,0,1,0};
+
+	if (!m_textureinitialized) {
+		glTexGenfv(GL_S,GL_OBJECT_PLANE,planex);
+		glTexGenfv(GL_T,GL_OBJECT_PLANE,planez);
+		glTexGeni(GL_S,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
+		glTexGeni(GL_T,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
+		glEnable(GL_TEXTURE_GEN_S);
+		glEnable(GL_TEXTURE_GEN_T);
+		glEnable(GL_TEXTURE_GEN_R);
+		m_textureinitialized=true;
+	}
+
+	glEnable(GL_COLOR_MATERIAL);
+	if(m_textureenabled)
+	{
+		glEnable(GL_TEXTURE_2D);
+		glBindTexture(GL_TEXTURE_2D,m_texturehandle);
+	} else
+	{
+		glDisable(GL_TEXTURE_2D);
+	}
+
+	glColor3f(color.x(),color.y(), color.z());
+
+	glBegin (GL_TRIANGLES);
+
+	for (i = 0; i < (obj->ad->numIndices / 3); i++)
+	{
+		int i1 = index++;
+		int i2 = index++;
+		int i3 = index++;
+
+		btAssert(i1 < ad->numIndices &&
+			i2 < ad->numIndices &&
+			i3 < ad->numIndices);
+
+		int index1 = obj->ad->indexPointer[i1];
+		int index2 = obj->ad->indexPointer[i2];
+		int index3 = obj->ad->indexPointer[i3];
+		btAssert(index1 < ad->numVertices &&
+			index2 < ad->numVertices &&
+			index3 < ad->numVertices);
+
+		btVector3 v1 = obj->ad->vertexPointer[index1];
+		btVector3 v2 = obj->ad->vertexPointer[index2];
+		btVector3 v3 = obj->ad->vertexPointer[index3];
+		btVector3 normal = (v3-v1).cross(v2-v1);
+		normal.normalize ();
+
+		glNormal3f(normal.getX(),normal.getY(),normal.getZ());
+		glVertex3f (v1.x(), v1.y(), v1.z());
+		glVertex3f (v2.x(), v2.y(), v2.z());
+		glVertex3f (v3.x(), v3.y(), v3.z());
+	}
+
+	glPopMatrix();
+
+	glEnd ();
+}
+
+//TODO
+void DemoApplication::updateInfo(map<int, guiObject *> objects)
+{
+	m_cache = objects;
+}
+
+//
+//void	DemoApplication::renderscene(int pass)
+void DemoApplication::renderscene(int pass)
+{
+//	btScalar	m[16];
+//	btMatrix3x3	rot;rot.setIdentity();
+
+//	const int	numObjects=m_dynamicsWorld->getNumCollisionObjects();
+	btVector3 wireColor(1,0,0);
+
+	map<int, guiObject *>::iterator it = m_cache.begin();
+	for ( ; it != m_cache.end(); it ++) {
+		btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
+#if 0
+	for(int i=0;i<numObjects;i++)
+	{
+		btCollisionObject*	colObj=m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody*		body=btRigidBody::upcast(colObj);
+		if(body&&body->getMotionState())
+		{
+			btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
+			myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
+			rot=myMotionState->m_graphicsWorldTrans.getBasis();
+		}
+		else
+		{
+			colObj->getWorldTransform().getOpenGLMatrix(m);
+			rot=colObj->getWorldTransform().getBasis();
+		}
+		btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
+		if(i&1) wireColor=btVector3(0.f,0.0f,1.f);
+		///color differently for active, sleeping, wantsdeactivation states
+		if (colObj->getActivationState() == 1) //active
+		{
+			if (i & 1)
+			{
+				wireColor += btVector3 (1.f,0.f,0.f);
+			}
+			else
+			{
+				wireColor += btVector3 (.5f,0.f,0.f);
+			}
+		}
+		if(colObj->getActivationState()==2) //ISLAND_SLEEPING
+		{
+			if(i&1)
+			{
+				wireColor += btVector3 (0.f,1.f, 0.f);
+			}
+			else
+			{
+				wireColor += btVector3 (0.f,0.5f,0.f);
+			}
+		}
+
+		btVector3 aabbMin,aabbMax;
+		m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax);
+
+		aabbMin-=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
+		aabbMax+=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
+//		printf("aabbMin=(%f,%f,%f)\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ());
+//		printf("aabbMax=(%f,%f,%f)\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ());
+//		m_dynamicsWorld->getDebugDrawer()->drawAabb(aabbMin,aabbMax,btVector3(1,1,1));
+#endif
+/*
+		switch(pass)
+		{
+		case	0:	m_shapeDrawer->drawOpenGL(it->second->ud->m,colObj->getCollisionShape(),wireColor,getDebugMode(),it->second->ud->aabbMin, it->second->ud->aabbMax);break;
+		case	1:	m_shapeDrawer->drawShadow(it->second->ud->m,m_sundirection*rot,colObj->getCollisionShape(),it->second->ud->aabbMin, it->second->ud->aabbMax);break;
+		case	2:	m_shapeDrawer->drawOpenGL(it->second->ud->m,colObj->getCollisionShape(),wireColor*0.3,0,it->second->ud->aabbMin, it->second->ud->aabbMax);break;
+		}*/
+
+		switch(pass)
+		{
+//			case	0:	m_shapeDrawer->draw(it->second->ud->m,it->second->ad,it->second->ud->aabbMin, it->second->ud->aabbMax);break;
+//			case	1:	m_shapeDrawer->drawShadow(it->second->ud->m,m_sundirection*rot,it->second->ad,it->second->ud->aabbMin, it->second->ud->aabbMax);break;
+//			case	2:	m_shapeDrawer->draw(it->second->ud->m,it->second->ad,it->second->ud->aabbMin, it->second->ud->aabbMax);break;
+			case	0: draw(it->second, wireColor);
+			case	2: draw(it->second, wireColor);
+		}
+	}
+
+}
+
+//
+void DemoApplication::renderme()
+{
+	myinit();
+
+	updateCamera();
+
+	m_enableshadows = false;
+	if(m_enableshadows)
+	{
+		glClear(GL_STENCIL_BUFFER_BIT);
+		glEnable(GL_CULL_FACE);
+		renderscene(0);
+
+		glDisable(GL_LIGHTING);
+		glDepthMask(GL_FALSE);
+		glDepthFunc(GL_LEQUAL);
+		glEnable(GL_STENCIL_TEST);
+		glColorMask(GL_FALSE,GL_FALSE,GL_FALSE,GL_FALSE);
+		glStencilFunc(GL_ALWAYS,1,0xFFFFFFFFL);
+		glFrontFace(GL_CCW);
+		glStencilOp(GL_KEEP,GL_KEEP,GL_INCR);
+		renderscene(1);
+		glFrontFace(GL_CW);
+		glStencilOp(GL_KEEP,GL_KEEP,GL_DECR);
+		renderscene(1);
+		glFrontFace(GL_CCW);
+
+		glPolygonMode(GL_FRONT,GL_FILL);
+		glPolygonMode(GL_BACK,GL_FILL);
+		glShadeModel(GL_SMOOTH);
+		glEnable(GL_DEPTH_TEST);
+		glDepthFunc(GL_LESS);
+		glEnable(GL_LIGHTING);
+		glDepthMask(GL_TRUE);
+		glCullFace(GL_BACK);
+		glFrontFace(GL_CCW);
+		glEnable(GL_CULL_FACE);
+		glColorMask(GL_TRUE,GL_TRUE,GL_TRUE,GL_TRUE);
+
+		glDepthFunc(GL_LEQUAL);
+		glStencilFunc( GL_NOTEQUAL, 0, 0xFFFFFFFFL );
+		glStencilOp( GL_KEEP, GL_KEEP, GL_KEEP );
+		glDisable(GL_LIGHTING);
+		renderscene(2);
+		glEnable(GL_LIGHTING);
+		glDepthFunc(GL_LESS);
+		glDisable(GL_STENCIL_TEST);
+		glDisable(GL_CULL_FACE);
+	}
+	else
+	{
+		glDisable(GL_CULL_FACE);
+		renderscene(0);
+	}
+
+	int	xOffset = 10;
+	int yStart = 20;
+	int yIncr = 20;
+	char buf[124];
+
+	glDisable(GL_LIGHTING);
+	glColor3f(0, 0, 0);
+
+	if ((m_debugMode & btIDebugDraw::DBG_NoHelpText)==0)
+	{
+		setOrthographicProjection();
+
+		showProfileInfo(xOffset,yStart,yIncr);
+
+#ifdef USE_QUICKPROF
+
+
+		if ( getDebugMode() & btIDebugDraw::DBG_ProfileTimings)
+		{
+			static int counter = 0;
+			counter++;
+			std::map<std::string, hidden::ProfileBlock*>::iterator iter;
+			for (iter = btProfiler::mProfileBlocks.begin(); iter != btProfiler::mProfileBlocks.end(); ++iter)
+			{
+				char blockTime[128];
+				sprintf(blockTime, "%s: %lf",&((*iter).first[0]),btProfiler::getBlockTime((*iter).first, btProfiler::BLOCK_CYCLE_SECONDS));//BLOCK_TOTAL_PERCENT));
+				glRasterPos3f(xOffset,yStart,0);
+				GLDebugDrawString(BMF_GetFont(BMF_kHelvetica10),blockTime);
+				yStart += yIncr;
+
+			}
+
+		}
+#endif //USE_QUICKPROF
+
+
+		sprintf(buf,"mouse to interact");
+		GLDebugDrawString(xOffset,yStart,buf);
+		yStart += yIncr;
+
+		sprintf(buf,"ALT + mouse to move camera");
+		GLDebugDrawString(xOffset,yStart,buf);
+		yStart += yIncr;
+
+		sprintf(buf,"space to reset");
+		GLDebugDrawString(xOffset,yStart,buf);
+		yStart += yIncr;
+
+		sprintf(buf,"cursor keys and z,x to navigate");
+		GLDebugDrawString(xOffset,yStart,buf);
+		yStart += yIncr;
+
+		sprintf(buf,"i to toggle simulation, s single step");
+		GLDebugDrawString(xOffset,yStart,buf);
+		yStart += yIncr;
+
+		sprintf(buf,"q to quit");
+		GLDebugDrawString(xOffset,yStart,buf);
+		yStart += yIncr;
+
+		sprintf(buf,". to shoot box");
+		GLDebugDrawString(xOffset,yStart,buf);
+		yStart += yIncr;
+
+		// not yet hooked up again after refactoring...
+
+		sprintf(buf,"d to toggle deactivation");
+		GLDebugDrawString(xOffset,yStart,buf);
+		yStart += yIncr;
+
+
+		sprintf(buf,"g to toggle mesh animation (ConcaveDemo)");
+		GLDebugDrawString(xOffset,yStart,buf);
+		yStart += yIncr;
+
+
+		sprintf(buf,"h to toggle help text");
+		GLDebugDrawString(xOffset,yStart,buf);
+		yStart += yIncr;
+
+		sprintf(buf,"o to toggle orthogonal/perspective view");
+		GLDebugDrawString(xOffset,yStart,buf);
+		yStart += yIncr;
+
+
+		//bool useBulletLCP = !(getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP);
+		//bool useCCD = (getDebugMode() & btIDebugDraw::DBG_EnableCCD);
+		//glRasterPos3f(xOffset,yStart,0);
+		//sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
+		//GLDebugDrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+		//yStart += yIncr;
+
+
+
+		sprintf(buf,"+- shooting speed = %10.2f",m_ShootBoxInitialSpeed);
+		GLDebugDrawString(xOffset,yStart,buf);
+		yStart += yIncr;
+
+#ifdef SHOW_NUM_DEEP_PENETRATIONS
+
+
+		sprintf(buf,"gNumDeepPenetrationChecks = %d",gNumDeepPenetrationChecks);
+		GLDebugDrawString(xOffset,yStart,buf);
+		yStart += yIncr;
+
+		sprintf(buf,"gNumGjkChecks= %d",gNumGjkChecks);
+		GLDebugDrawString(xOffset,yStart,buf);
+		yStart += yIncr;
+
+		sprintf(buf,"gNumClampedCcdMotions = %d",gNumClampedCcdMotions);
+		GLDebugDrawString(xOffset,yStart,buf);
+		yStart += yIncr;
+
+		sprintf(buf,"gNumSplitImpulseRecoveries= %d",gNumSplitImpulseRecoveries);
+		GLDebugDrawString(xOffset,yStart,buf);
+		yStart += yIncr;
+
+		sprintf(buf,"gNumAlignedAllocs = %d",gNumAlignedAllocs);
+		GLDebugDrawString(xOffset,yStart,buf);
+		yStart += yIncr;
+
+		sprintf(buf,"gNumAlignedFree= %d",gNumAlignedFree);
+		GLDebugDrawString(xOffset,yStart,buf);
+		yStart += yIncr;
+
+		sprintf(buf,"# alloc-free = %d",gNumAlignedAllocs-gNumAlignedFree);
+		GLDebugDrawString(xOffset,yStart,buf);
+		yStart += yIncr;
+
+		//enable BT_DEBUG_MEMORY_ALLOCATIONS define in Bullet/src/LinearMath/btAlignedAllocator.h for memory leak detection
+#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
+		glRasterPos3f(xOffset,yStart,0);
+		sprintf(buf,"gTotalBytesAlignedAllocs = %d",gTotalBytesAlignedAllocs);
+		GLDebugDrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+		yStart += yIncr;
+#endif //BT_DEBUG_MEMORY_ALLOCATIONS
+
+/*		if (getDynamicsWorld())
+		{
+			glRasterPos3f(xOffset,yStart,0);
+			sprintf(buf,"# objects = %d",getDynamicsWorld()->getNumCollisionObjects());
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+			glRasterPos3f(xOffset,yStart,0);
+			sprintf(buf,"# pairs = %d",getDynamicsWorld()->getBroadphase()->getOverlappingPairCache()->getNumOverlappingPairs());
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+			sprintf(buf,"# hitPos = %f,%f,%f",gHitPos.getX(),gHitPos.getY(),gHitPos.getZ());
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+
+		}*/
+
+
+#endif //SHOW_NUM_DEEP_PENETRATIONS
+
+		resetPerspectiveProjection();
+	}
+
+	glEnable(GL_LIGHTING);
+
+
+
+	updateCamera();
+
+}
+#include "BulletCollision/BroadphaseCollision/btAxisSweep3.h"
+
+void	DemoApplication::clientResetScene()
+{
+#ifdef SHOW_NUM_DEEP_PENETRATIONS
+	gNumDeepPenetrationChecks = 0;
+	gNumGjkChecks = 0;
+#endif //SHOW_NUM_DEEP_PENETRATIONS
+
+	gNumClampedCcdMotions = 0;
+//	int numObjects = 0;
+//	int i;
+
+#if 0
+	if (m_dynamicsWorld)
+	{
+		numObjects = m_dynamicsWorld->getNumCollisionObjects();
+
+		///create a copy of the array, not a reference!
+		btCollisionObjectArray copyArray = m_dynamicsWorld->getCollisionObjectArray();
+
+
+
+
+		for (i=0;i<numObjects;i++)
+		{
+			btCollisionObject* colObj = copyArray[i];
+			btRigidBody* body = btRigidBody::upcast(colObj);
+			if (body)
+			{
+				if (body->getMotionState())
+				{
+					btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
+					myMotionState->m_graphicsWorldTrans = myMotionState->m_startWorldTrans;
+					body->setCenterOfMassTransform( myMotionState->m_graphicsWorldTrans );
+					colObj->setInterpolationWorldTransform( myMotionState->m_startWorldTrans );
+					colObj->forceActivationState(ACTIVE_TAG);
+					colObj->activate();
+					colObj->setDeactivationTime(0);
+					//colObj->setActivationState(WANTS_DEACTIVATION);
+				}
+				//removed cached contact points (this is not necessary if all objects have been removed from the dynamics world)
+				//m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(colObj->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
+
+				btRigidBody* body = btRigidBody::upcast(colObj);
+				if (body && !body->isStaticObject())
+				{
+					btRigidBody::upcast(colObj)->setLinearVelocity(btVector3(0,0,0));
+					btRigidBody::upcast(colObj)->setAngularVelocity(btVector3(0,0,0));
+				}
+			}
+
+		}
+
+		///reset some internal cached data in the broadphase
+		m_dynamicsWorld->getBroadphase()->resetPool(getDynamicsWorld()->getDispatcher());
+		m_dynamicsWorld->getConstraintSolver()->reset();
+
+	}
+#endif
+
+}
+
+void DemoApplication::updateModifierKeys()
+{
+	m_modifierKeys = 0;
+	if (glutGetModifiers() & GLUT_ACTIVE_ALT)
+		m_modifierKeys |= BT_ACTIVE_ALT;
+
+	if (glutGetModifiers() & GLUT_ACTIVE_CTRL)
+		m_modifierKeys |= BT_ACTIVE_CTRL;
+
+	if (glutGetModifiers() & GLUT_ACTIVE_SHIFT)
+		m_modifierKeys |= BT_ACTIVE_SHIFT;
+}
+
+void DemoApplication::specialKeyboard(int key, int x, int y)
+{
+	(void)x;
+	(void)y;
+
+	switch (key)
+	{
+	case GLUT_KEY_F1:
+		{
+
+			break;
+		}
+
+	case GLUT_KEY_F2:
+		{
+
+			break;
+		}
+
+
+	case GLUT_KEY_END:
+		{
+			/*
+			int numObj = getDynamicsWorld()->getNumCollisionObjects();
+			if (numObj)
+			{
+				btCollisionObject* obj = getDynamicsWorld()->getCollisionObjectArray()[numObj-1];
+
+				getDynamicsWorld()->removeCollisionObject(obj);
+				btRigidBody* body = btRigidBody::upcast(obj);
+				if (body && body->getMotionState())
+				{
+					delete body->getMotionState();
+				}
+				delete obj;
+
+
+			}
+			*/
+			break;
+		}
+	case GLUT_KEY_LEFT : stepLeft(); break;
+	case GLUT_KEY_RIGHT : stepRight(); break;
+	case GLUT_KEY_UP : stepFront(); break;
+	case GLUT_KEY_DOWN : stepBack(); break;
+	case GLUT_KEY_PAGE_UP : zoomIn(); break;
+	case GLUT_KEY_PAGE_DOWN : zoomOut(); break;
+	case GLUT_KEY_HOME : toggleIdle(); break;
+	default:
+		//        std::cout << "unused (special) key : " << key << std::endl;
+		break;
+	}
+
+	glutPostRedisplay();
+
+}
+
+void DemoApplication::swapBuffers()
+{
+	glutSwapBuffers();
+
+}
Index: /proiecte/SIMEO/Simeo/src/SimeoGui/DemoApplication.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoGui/DemoApplication.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoGui/DemoApplication.h	(revision 167)
@@ -0,0 +1,260 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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 DEMO_APPLICATION_H
+#define DEMO_APPLICATION_H
+
+
+#include "GlutStuff.h"
+#include "GL_ShapeDrawer.h"
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <math.h>
+
+#include "GuiUpdater.h"
+
+
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btMatrix3x3.h"
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btQuickprof.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+#include "GuiUpdater.h"
+
+class	btCollisionShape;
+//class	btDynamicsWorld;
+class	btRigidBody;
+class	btTypedConstraint;
+
+
+
+class DemoApplication
+{
+	void	displayProfileString(int xOffset,int yStart,char* message);
+	class CProfileIterator* m_profileIterator;
+
+	protected:
+#ifdef USE_BT_CLOCK
+	btClock m_clock;
+#endif //USE_BT_CLOCK
+
+	///this is the most important class
+//	btDynamicsWorld*		m_dynamicsWorld;
+
+	///constraint for mouse picking
+	btTypedConstraint*		m_pickConstraint;
+
+	btCollisionShape*	m_shootBoxShape;
+
+	float	m_cameraDistance;
+	int	m_debugMode;
+
+	float m_ele;
+	float m_azi;
+	btVector3 m_cameraPosition;
+	btVector3 m_cameraTargetPosition;//look at
+
+	int	m_mouseOldX;
+	int	m_mouseOldY;
+	int	m_mouseButtons;
+
+	bool			m_textureinitialized;
+	bool			m_textureenabled;
+	unsigned int	m_texturehandle;
+	void draw(guiObject *obj, const btVector3&color);
+
+public:
+	int	m_modifierKeys;
+	map<int, guiObject *> m_cache;
+
+protected:
+
+	float m_scaleBottom;
+	float m_scaleFactor;
+	btVector3 m_cameraUp;
+	int	m_forwardAxis;
+
+	int m_glutScreenWidth;
+	int m_glutScreenHeight;
+
+	int	m_ortho;
+
+	float	m_ShootBoxInitialSpeed;
+
+	bool	m_stepping;
+	bool m_singleStep;
+	bool m_idle;
+	int m_lastKey;
+
+	void showProfileInfo(int& xOffset,int& yStart, int yIncr);
+//	void renderscene(int pass);
+	void renderscene(int pass);
+
+	GL_ShapeDrawer*	m_shapeDrawer;
+	bool			m_enableshadows;
+	btVector3		m_sundirection;
+
+public:
+
+	DemoApplication();
+
+	virtual ~DemoApplication();
+
+//	btDynamicsWorld*		getDynamicsWorld()
+//	{
+//		return m_dynamicsWorld;
+//	}
+
+	void updateInfo(map<int, guiObject *> objects);
+
+	virtual	void initPhysics() {};
+
+	virtual	void setDrawClusters(bool drawClusters)
+	{
+
+	}
+
+	void overrideGLShapeDrawer (GL_ShapeDrawer* shapeDrawer);
+
+	void setOrthographicProjection();
+	void resetPerspectiveProjection();
+
+	bool	setTexturing(bool enable) { return(m_shapeDrawer->enableTexture(enable)); }
+	bool	setShadows(bool enable)	{ bool p=m_enableshadows;m_enableshadows=enable;return(p); }
+	bool	getTexturing() const
+	{
+		return m_shapeDrawer->hasTextureEnabled();
+	}
+	bool	getShadows() const
+	{
+		return m_enableshadows;
+	}
+
+
+	int		getDebugMode()
+	{
+		return m_debugMode ;
+	}
+
+	void	setDebugMode(int mode);
+
+	void	setAzi(float azi)
+	{
+		m_azi = azi;
+	}
+
+	void	setCameraUp(const btVector3& camUp)
+	{
+		m_cameraUp = camUp;
+	}
+	void	setCameraForwardAxis(int axis)
+	{
+		m_forwardAxis = axis;
+	}
+
+	void myinit();
+
+	void toggleIdle();
+
+	virtual void updateCamera();
+
+	btVector3	getCameraPosition()
+	{
+		return m_cameraPosition;
+	}
+	btVector3	getCameraTargetPosition()
+	{
+		return m_cameraTargetPosition;
+	}
+
+	btScalar	getDeltaTimeMicroseconds()
+	{
+#ifdef USE_BT_CLOCK
+		btScalar dt = m_clock.getTimeMicroseconds();
+		m_clock.reset();
+		return dt;
+#else
+		return btScalar(16666.);
+#endif
+	}
+
+	///glut callbacks
+
+	float	getCameraDistance();
+	void	setCameraDistance(float dist);
+	void	moveAndDisplay();
+
+	virtual void clientMoveAndDisplay();
+
+	virtual void	clientResetScene();
+
+	///Demo functions
+	virtual void setShootBoxShape ();
+	virtual void	shootBox(const btVector3& destination);
+
+
+	btVector3	getRayTo(int x,int y);
+
+	btRigidBody*	localCreateRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape);
+
+	///callback methods by glut
+
+	virtual void keyboardCallback(unsigned char key, int x, int y);
+
+	virtual void keyboardUpCallback(unsigned char key, int x, int y) {}
+
+	virtual void specialKeyboard(int key, int x, int y);
+
+	virtual void specialKeyboardUp(int key, int x, int y){}
+
+	virtual void reshape(int w, int h);
+
+	virtual void mouseFunc(int button, int state, int x, int y);
+
+	virtual void	mouseMotionFunc(int x,int y);
+
+	virtual void displayCallback();
+
+	virtual 	void renderme();
+
+	virtual		void swapBuffers();
+
+	virtual		void	updateModifierKeys();
+
+	void stepLeft();
+	void stepRight();
+	void stepFront();
+	void stepBack();
+	void zoomIn();
+	void zoomOut();
+
+	bool	isIdle() const
+	{
+		return	m_idle;
+	}
+
+	void	setIdle(bool idle)
+	{
+		m_idle = idle;
+	}
+
+
+};
+
+#endif //DEMO_APPLICATION_H
+
+
Index: /proiecte/SIMEO/Simeo/src/SimeoGui/GLDebugDrawer.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoGui/GLDebugDrawer.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoGui/GLDebugDrawer.cpp	(revision 167)
@@ -0,0 +1,145 @@
+#include "GLDebugDrawer.h"
+#include "GLDebugFont.h"
+#include "GlutStuff.h"
+
+#include <stdio.h> //printf debugging
+
+GLDebugDrawer::GLDebugDrawer()
+:m_debugMode(0)
+{
+
+}
+
+void	GLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& fromColor, const btVector3& toColor)
+{
+	glBegin(GL_LINES);
+		glColor3f(fromColor.getX(), fromColor.getY(), fromColor.getZ());
+		glVertex3d(from.getX(), from.getY(), from.getZ());
+		glColor3f(toColor.getX(), toColor.getY(), toColor.getZ());
+		glVertex3d(to.getX(), to.getY(), to.getZ());
+	glEnd();
+}
+
+void	GLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& color)
+{
+//	if (m_debugMode > 0)
+	{
+		glBegin(GL_LINES);
+		glColor4f(color.getX(), color.getY(), color.getZ(),1.f);
+		glVertex3d(from.getX(), from.getY(), from.getZ());
+		glVertex3d(to.getX(), to.getY(), to.getZ());
+		glEnd();
+	}
+}
+
+void GLDebugDrawer::drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
+{
+	glColor4f (color.getX(), color.getY(), color.getZ(), btScalar(1.0f));
+	glPushMatrix ();
+	glTranslatef (p.getX(), p.getY(), p.getZ());
+
+	int lats = 5;
+	int longs = 5;
+
+	int i, j;
+	for(i = 0; i <= lats; i++) {
+		btScalar lat0 = SIMD_PI * (-btScalar(0.5) + (btScalar) (i - 1) / lats);
+		btScalar z0  = radius*sin(lat0);
+		btScalar zr0 =  radius*cos(lat0);
+
+		btScalar lat1 = SIMD_PI * (-btScalar(0.5) + (btScalar) i / lats);
+		btScalar z1 = radius*sin(lat1);
+		btScalar zr1 = radius*cos(lat1);
+
+		glBegin(GL_QUAD_STRIP);
+		for(j = 0; j <= longs; j++) {
+			btScalar lng = 2 * SIMD_PI * (btScalar) (j - 1) / longs;
+			btScalar x = cos(lng);
+			btScalar y = sin(lng);
+
+			glNormal3f(x * zr0, y * zr0, z0);
+			glVertex3f(x * zr0, y * zr0, z0);
+			glNormal3f(x * zr1, y * zr1, z1);
+			glVertex3f(x * zr1, y * zr1, z1);
+		}
+		glEnd();
+	}
+
+	glPopMatrix();
+}
+
+void GLDebugDrawer::drawBox (const btVector3& boxMin, const btVector3& boxMax, const btVector3& color, btScalar alpha)
+{
+	btVector3 halfExtent = (boxMax - boxMin) * btScalar(0.5f);
+	btVector3 center = (boxMax + boxMin) * btScalar(0.5f);
+	//glEnable(GL_BLEND);     // Turn blending On
+	//glBlendFunc(GL_SRC_ALPHA, GL_ONE);
+	glColor4f (color.getX(), color.getY(), color.getZ(), alpha);
+	glPushMatrix ();
+	glTranslatef (center.getX(), center.getY(), center.getZ());
+	glScaled(2*halfExtent[0], 2*halfExtent[1], 2*halfExtent[2]);
+//	glutSolidCube(1.0);
+	glPopMatrix ();
+	//glDisable(GL_BLEND);
+}
+
+void	GLDebugDrawer::drawTriangle(const btVector3& a,const btVector3& b,const btVector3& c,const btVector3& color,btScalar alpha)
+{
+//	if (m_debugMode > 0)
+	{
+		const btVector3	n=btCross(b-a,c-a).normalized();
+		glBegin(GL_TRIANGLES);
+		glColor4f(color.getX(), color.getY(), color.getZ(),alpha);
+		glNormal3d(n.getX(),n.getY(),n.getZ());
+		glVertex3d(a.getX(),a.getY(),a.getZ());
+		glVertex3d(b.getX(),b.getY(),b.getZ());
+		glVertex3d(c.getX(),c.getY(),c.getZ());
+		glEnd();
+	}
+}
+
+void	GLDebugDrawer::setDebugMode(int debugMode)
+{
+	m_debugMode = debugMode;
+
+}
+
+void	GLDebugDrawer::draw3dText(const btVector3& location,const char* textString)
+{
+	glRasterPos3f(location.x(),  location.y(),  location.z());
+	//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),textString);
+}
+
+void	GLDebugDrawer::reportErrorWarning(const char* warningString)
+{
+	printf("%s", warningString);
+}
+
+void	GLDebugDrawer::drawContactPoint(const btVector3& pointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
+{
+
+	{
+		btVector3 to=pointOnB+normalOnB*distance;
+		const btVector3&from = pointOnB;
+		glColor4f(color.getX(), color.getY(), color.getZ(),1.f);
+		//glColor4f(0,0,0,1.f);
+
+		glBegin(GL_LINES);
+		glVertex3d(from.getX(), from.getY(), from.getZ());
+		glVertex3d(to.getX(), to.getY(), to.getZ());
+		glEnd();
+
+
+		glRasterPos3f(from.x(),  from.y(),  from.z());
+		char buf[12];
+		sprintf(buf," %d",lifeTime);
+		//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+
+
+	}
+}
+
+
+
+
+
Index: /proiecte/SIMEO/Simeo/src/SimeoGui/GLDebugDrawer.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoGui/GLDebugDrawer.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoGui/GLDebugDrawer.h	(revision 167)
@@ -0,0 +1,38 @@
+#ifndef GL_DEBUG_DRAWER_H
+#define GL_DEBUG_DRAWER_H
+
+#include "LinearMath/btIDebugDraw.h"
+
+
+
+class GLDebugDrawer : public btIDebugDraw
+{
+	int m_debugMode;
+
+public:
+
+	GLDebugDrawer();
+
+
+	virtual void	drawLine(const btVector3& from,const btVector3& to,const btVector3& fromColor, const btVector3& toColor);
+
+	virtual void	drawLine(const btVector3& from,const btVector3& to,const btVector3& color);
+
+	virtual void	drawSphere (const btVector3& p, btScalar radius, const btVector3& color);
+	virtual void	drawBox (const btVector3& boxMin, const btVector3& boxMax, const btVector3& color, btScalar alpha);
+
+	virtual void	drawTriangle(const btVector3& a,const btVector3& b,const btVector3& c,const btVector3& color,btScalar alpha);
+	
+	virtual void	drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color);
+
+	virtual void	reportErrorWarning(const char* warningString);
+
+	virtual void	draw3dText(const btVector3& location,const char* textString);
+
+	virtual void	setDebugMode(int debugMode);
+
+	virtual int		getDebugMode() const { return m_debugMode;}
+
+};
+
+#endif//GL_DEBUG_DRAWER_H
Index: /proiecte/SIMEO/Simeo/src/SimeoGui/GLDebugFont.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoGui/GLDebugFont.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoGui/GLDebugFont.cpp	(revision 167)
@@ -0,0 +1,896 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "GLDebugFont.h"
+#include "GlutStuff.h"
+#include <stdio.h>
+#include <string.h> //for memset
+
+extern unsigned char sFontData[];
+static GLuint sTexture = -1;
+static int sScreenWidth = -1;
+static int sScreenHeight = -1;
+
+
+void GLDebugResetFont(int screenWidth, int screenHeight)
+{
+
+	if ((sScreenWidth == screenWidth) && (sScreenHeight == screenHeight))
+		return;
+
+	sScreenWidth = screenWidth;
+	sScreenHeight = screenHeight;
+
+	if (sTexture == (GLuint) -1)
+	{
+		glGenTextures(1, &sTexture);
+		glBindTexture(GL_TEXTURE_2D, sTexture);
+		glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR);
+		glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR);
+		glTexImage2D(GL_TEXTURE_2D, 0, 3, 256 , 256 , 0, GL_RGB, GL_UNSIGNED_BYTE, &sFontData[0]);
+	}
+
+	printf("generating font at resolution %d,%d\n", screenWidth, screenHeight);
+}
+
+void GLDebugDrawString(int x, int y, const char *string)
+{
+	if (sTexture == (GLuint) -1)
+	{
+		GLDebugResetFont(sScreenWidth,sScreenHeight);
+	}
+	if (strlen(string))
+	{
+		glColor3f(1.,1.,1.);
+		float	cx;
+		float	cy;
+
+		glMatrixMode(GL_TEXTURE);
+		glLoadIdentity();
+
+		glDisable(GL_TEXTURE_GEN_S);
+		glDisable(GL_TEXTURE_GEN_T);
+		glDisable(GL_TEXTURE_GEN_R);
+
+		glEnable(GL_TEXTURE_2D);
+		glBlendFunc(GL_SRC_ALPHA,GL_ONE);
+		glDepthFunc (GL_LEQUAL);
+		glEnable(GL_BLEND);
+		glEnable (GL_DEPTH_TEST);
+		glBindTexture(GL_TEXTURE_2D, sTexture);
+		glDisable(GL_DEPTH_TEST);
+		glMatrixMode(GL_PROJECTION);
+		glPushMatrix();
+		glLoadIdentity();
+		glOrtho(0,sScreenWidth,0,sScreenHeight,-1,1);
+		glMatrixMode(GL_MODELVIEW);
+		glPushMatrix();
+		glLoadIdentity();
+		glTranslated(x,sScreenHeight - y,0);
+
+		for (int i=0;i<int (strlen(string));i++)
+		{
+			char ch = string[i]-32;
+			if (ch>=0)
+			{
+				cx=float(ch%16) * 1./16.f;
+				cy=float(ch/16) * 1./16.f;
+
+				glBegin(GL_QUADS);
+				glTexCoord2f(cx,1-cy-1./16.f);
+				glVertex2i(0,0);
+				glTexCoord2f(cx+1./16.f,1-cy-1./16.f);
+				glVertex2i(16 - 1,0);
+				glTexCoord2f(cx+1./16.f,1-cy);
+				glVertex2i(16 - 1,16 -1);
+				glTexCoord2f(cx,1-cy);
+				glVertex2i(0,16 -1);
+				glEnd();
+				glTranslated(10,0,0);
+			}
+		}
+
+		glMatrixMode(GL_PROJECTION);
+		glPopMatrix();
+		glMatrixMode(GL_MODELVIEW);
+		glPopMatrix();
+		glEnable(GL_DEPTH_TEST);
+		glBlendFunc(GL_SRC_ALPHA,GL_ONE);
+		glDepthFunc (GL_LEQUAL);
+		glDisable(GL_BLEND);
+		glDisable(GL_TEXTURE_2D);
+
+		glMatrixMode(GL_TEXTURE);
+		glLoadIdentity();
+		glScalef(0.025,0.025,0.025);
+
+		glMatrixMode(GL_MODELVIEW);
+
+		//glDisable(GL_TEXTURE_2D);
+	}
+}
+
+
+unsigned char sFontData[] =
+{
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,255,255,255,255,255,255,255,255,70,70,70,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,103,103,103,103,103,103,145,145,145,255,255,255,255,255,255,145,145,145,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,70,70,70,103,103,103,213,213,213,255,255,255,70,70,70,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
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+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+};
Index: /proiecte/SIMEO/Simeo/src/SimeoGui/GLDebugFont.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoGui/GLDebugFont.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoGui/GLDebugFont.h	(revision 167)
@@ -0,0 +1,24 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 BT_DEBUG_FONT_H
+#define BT_DEBUG_FONT_H
+
+void	GLDebugDrawString(int x,int y,const char* string);
+void	GLDebugResetFont(int screenWidth,int screenHeight);
+
+#endif //BT_DEBUG_FONT_H
+
Index: /proiecte/SIMEO/Simeo/src/SimeoGui/GL_ShapeDrawer.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoGui/GL_ShapeDrawer.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoGui/GL_ShapeDrawer.cpp	(revision 167)
@@ -0,0 +1,998 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+#ifdef WIN32 //needed for glut.h
+#include <windows.h>
+#endif
+#include "GLDebugFont.h"
+
+
+
+#include "GlutStuff.h"
+#include "GL_ShapeDrawer.h"
+#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
+#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btBoxShape.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
+#include "BulletCollision/CollisionShapes/btConeShape.h"
+#include "BulletCollision/CollisionShapes/btCylinderShape.h"
+#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
+#include "BulletCollision/CollisionShapes/btCompoundShape.h"
+#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
+#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
+#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
+#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
+
+
+///
+#include "BulletCollision/CollisionShapes/btShapeHull.h"
+
+#include "LinearMath/btTransformUtil.h"
+
+
+#include "LinearMath/btIDebugDraw.h"
+//for debugmodes
+
+#include <stdio.h> //printf debugging
+
+//#define USE_DISPLAY_LISTS 1
+#ifdef USE_DISPLAY_LISTS
+
+#include <map>
+
+using namespace std;
+
+//Set for storing Display list per trimesh
+struct TRIMESH_KEY
+{
+	btCollisionShape* m_shape;
+	GLuint m_dlist;//OpenGL display list
+};
+
+typedef map<unsigned long,TRIMESH_KEY> TRIMESH_KEY_MAP;
+
+typedef pair<unsigned long,TRIMESH_KEY> TRIMESH_KEY_PAIR;
+
+TRIMESH_KEY_MAP g_display_lists;
+
+class GlDisplaylistDrawcallback : public btTriangleCallback
+{
+public:
+
+	virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
+	{
+
+		btVector3 diff1 = triangle[1] - triangle[0];
+		btVector3 diff2 = triangle[2] - triangle[0];
+		btVector3 normal = diff1.cross(diff2);
+
+		normal.normalize();
+
+		glBegin(GL_TRIANGLES);
+		glColor3f(1, 1, 1);
+		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
+		glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+
+		//glColor3f(0, 1, 0);
+		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
+		glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+
+		//glColor3f(0, 1, 0);
+		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
+		glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+		glEnd();
+
+		/*glBegin(GL_LINES);
+		glColor3f(1, 1, 0);
+		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
+		glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
+		glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+		glColor3f(1, 1, 0);
+		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
+		glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
+		glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+		glColor3f(1, 1, 0);
+		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
+		glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
+		glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+		glEnd();*/
+
+
+	}
+};
+
+GLuint  OGL_get_displaylist_for_shape(btCollisionShape * shape)
+{
+	TRIMESH_KEY_MAP::iterator map_iter;
+
+	unsigned long key = (unsigned long)shape;
+	map_iter = g_display_lists.find(key);
+	if(map_iter!=g_display_lists.end())
+	{
+		return map_iter->second.m_dlist;
+	}
+
+	return 0;
+}
+
+void OGL_displaylist_clean()
+{
+	TRIMESH_KEY_MAP::iterator map_iter,map_itend;
+
+	map_iter = g_display_lists.begin();
+
+	while(map_iter!=map_itend)
+	{
+		glDeleteLists(map_iter->second.m_dlist,1);
+		map_iter++;
+	}
+
+	g_display_lists.clear();
+}
+
+
+void OGL_displaylist_register_shape(btCollisionShape * shape)
+{
+	btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+	btVector3 aabbMin(-btScalar(BT_LARGE_FLOAT),-btScalar(BT_LARGE_FLOAT),-btScalar(BT_LARGE_FLOAT));
+	GlDisplaylistDrawcallback drawCallback;
+	TRIMESH_KEY dlist;
+
+	dlist.m_dlist = glGenLists(1);
+	dlist.m_shape = shape;
+
+	unsigned long key = (unsigned long)shape;
+
+	g_display_lists.insert(TRIMESH_KEY_PAIR(key,dlist));
+
+	glNewList(dlist.m_dlist,GL_COMPILE);
+
+//	glEnable(GL_CULL_FACE);
+
+	glCullFace(GL_BACK);
+
+	if (shape->isConcave())
+	{
+		btConcaveShape* concaveMesh = (btConcaveShape*) shape;
+		//todo pass camera, for some culling
+		concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
+	}
+
+//	glDisable(GL_CULL_FACE);
+
+	glEndList();
+}
+#endif //USE_DISPLAY_LISTS
+
+void GL_ShapeDrawer::drawCoordSystem()  {
+	glBegin(GL_LINES);
+	glColor3f(1, 0, 0);
+	glVertex3d(0, 0, 0);
+	glVertex3d(1, 0, 0);
+	glColor3f(0, 1, 0);
+	glVertex3d(0, 0, 0);
+	glVertex3d(0, 1, 0);
+	glColor3f(0, 0, 1);
+	glVertex3d(0, 0, 0);
+	glVertex3d(0, 0, 1);
+	glEnd();
+
+}
+
+
+
+
+
+class GlDrawcallback : public btTriangleCallback
+{
+
+public:
+
+	bool	m_wireframe;
+
+	GlDrawcallback()
+		:m_wireframe(false)
+	{
+	}
+
+	virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
+	{
+
+		(void)triangleIndex;
+		(void)partId;
+
+
+		if (m_wireframe)
+		{
+			glBegin(GL_LINES);
+			glColor3f(1, 0, 0);
+			glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+			glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+			glColor3f(0, 1, 0);
+			glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+			glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+			glColor3f(0, 0, 1);
+			glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+			glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+			glEnd();
+		} else
+		{
+			glBegin(GL_TRIANGLES);
+			//glColor3f(1, 1, 1);
+
+
+			glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+			glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+			glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+
+			glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+			glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+			glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+			glEnd();
+		}
+	}
+};
+
+class TriangleGlDrawcallback : public btInternalTriangleIndexCallback
+{
+public:
+	virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int  triangleIndex)
+	{
+		(void)triangleIndex;
+		(void)partId;
+
+
+		glBegin(GL_TRIANGLES);//LINES);
+		glColor3f(1, 0, 0);
+		glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+		glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+		glColor3f(0, 1, 0);
+		glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+		glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+		glColor3f(0, 0, 1);
+		glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+		glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+		glEnd();
+	}
+};
+
+
+void GL_ShapeDrawer::drawSphere(btScalar radius, int lats, int longs)
+{
+	int i, j;
+	for(i = 0; i <= lats; i++) {
+		btScalar lat0 = SIMD_PI * (-btScalar(0.5) + (btScalar) (i - 1) / lats);
+		btScalar z0  = radius*sin(lat0);
+		btScalar zr0 =  radius*cos(lat0);
+
+		btScalar lat1 = SIMD_PI * (-btScalar(0.5) + (btScalar) i / lats);
+		btScalar z1 = radius*sin(lat1);
+		btScalar zr1 = radius*cos(lat1);
+
+		glBegin(GL_QUAD_STRIP);
+		for(j = 0; j <= longs; j++) {
+			btScalar lng = 2 * SIMD_PI * (btScalar) (j - 1) / longs;
+			btScalar x = cos(lng);
+			btScalar y = sin(lng);
+			glNormal3f(x * zr1, y * zr1, z1);
+			glVertex3f(x * zr1, y * zr1, z1);
+			glNormal3f(x * zr0, y * zr0, z0);
+			glVertex3f(x * zr0, y * zr0, z0);
+		}
+		glEnd();
+	}
+}
+
+void GL_ShapeDrawer::drawCylinder(float radius,float halfHeight, int upAxis)
+{
+
+
+	glPushMatrix();
+	switch (upAxis)
+	{
+	case 0:
+		glRotatef(-90.0, 0.0, 1.0, 0.0);
+		glTranslatef(0.0, 0.0, -halfHeight);
+		break;
+	case 1:
+		glRotatef(-90.0, 1.0, 0.0, 0.0);
+		glTranslatef(0.0, 0.0, -halfHeight);
+		break;
+	case 2:
+
+		glTranslatef(0.0, 0.0, -halfHeight);
+		break;
+	default:
+		{
+			btAssert(0);
+		}
+
+	}
+
+	GLUquadricObj *quadObj = gluNewQuadric();
+
+	//The gluCylinder subroutine draws a cylinder that is oriented along the z axis.
+	//The base of the cylinder is placed at z = 0; the top of the cylinder is placed at z=height.
+	//Like a sphere, the cylinder is subdivided around the z axis into slices and along the z axis into stacks.
+
+	gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL);
+	gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH);
+
+	gluDisk(quadObj,0,radius,15, 10);
+
+	gluCylinder(quadObj, radius, radius, 2.f*halfHeight, 15, 10);
+	glTranslatef(0.0, 0.0, 2.*halfHeight);
+	glRotatef(-180.0, 0.0, 1.0, 0.0);
+	gluDisk(quadObj,0,radius,15, 10);
+
+	glPopMatrix();
+	gluDeleteQuadric(quadObj);
+}
+
+GL_ShapeDrawer::ShapeCache*		GL_ShapeDrawer::cache(btConvexShape* shape)
+{
+	ShapeCache*		sc=(ShapeCache*)shape->getUserPointer();
+	if(!sc)
+	{
+		sc=new(btAlignedAlloc(sizeof(ShapeCache),16)) ShapeCache(shape);
+		sc->m_shapehull.buildHull(shape->getMargin());
+		m_shapecaches.push_back(sc);
+		shape->setUserPointer(sc);
+		/* Build edges	*/
+		const int			ni=sc->m_shapehull.numIndices();
+		const int			nv=sc->m_shapehull.numVertices();
+		const unsigned int*	pi=sc->m_shapehull.getIndexPointer();
+		const btVector3*	pv=sc->m_shapehull.getVertexPointer();
+		btAlignedObjectArray<ShapeCache::Edge*>	edges;
+		sc->m_edges.reserve(ni);
+		edges.resize(nv*nv,0);
+		for(int i=0;i<ni;i+=3)
+		{
+			const unsigned int* ti=pi+i;
+			const btVector3		nrm=btCross(pv[ti[1]]-pv[ti[0]],pv[ti[2]]-pv[ti[0]]).normalized();
+			for(int j=2,k=0;k<3;j=k++)
+			{
+				const unsigned int	a=ti[j];
+				const unsigned int	b=ti[k];
+				ShapeCache::Edge*&	e=edges[btMin(a,b)*nv+btMax(a,b)];
+				if(!e)
+				{
+					sc->m_edges.push_back(ShapeCache::Edge());
+					e=&sc->m_edges[sc->m_edges.size()-1];
+					e->n[0]=nrm;e->n[1]=-nrm;
+					e->v[0]=a;e->v[1]=b;
+				}
+				else
+				{
+					e->n[1]=nrm;
+				}
+			}
+		}
+	}
+	return(sc);
+}
+
+void renderSquareA(float x, float y, float z)
+{
+	glBegin(GL_LINE_LOOP);
+	glVertex3f(x, y, z);
+	glVertex3f(x + 10., y, z);
+	glVertex3f(x + 10., y + 10., z);
+	glVertex3f(x, y + 10., z);
+	glEnd();
+}
+
+inline void glDrawVector(const btVector3& v) { glVertex3d(v[0], v[1], v[2]); }
+
+
+void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int	debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
+{
+	if (shape->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE)
+	{
+		btVector3 org(m[12], m[13], m[14]);
+		btVector3 dx(m[0], m[1], m[2]);
+		btVector3 dy(m[4], m[5], m[6]);
+//		btVector3 dz(m[8], m[9], m[10]);
+		const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
+		btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
+		dx *= halfExtent[0];
+		dy *= halfExtent[1];
+//		dz *= halfExtent[2];
+		glColor3f(1,1,1);
+		glDisable(GL_LIGHTING);
+		glLineWidth(2);
+
+		glBegin(GL_LINE_LOOP);
+		glDrawVector(org - dx - dy);
+		glDrawVector(org - dx + dy);
+		glDrawVector(org + dx + dy);
+		glDrawVector(org + dx - dy);
+		glEnd();
+		return;
+	}
+	else if((shape->getShapeType() == BOX_SHAPE_PROXYTYPE) && (debugMode & btIDebugDraw::DBG_FastWireframe))
+	{
+		btVector3 org(m[12], m[13], m[14]);
+		btVector3 dx(m[0], m[1], m[2]);
+		btVector3 dy(m[4], m[5], m[6]);
+		btVector3 dz(m[8], m[9], m[10]);
+		const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
+		btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
+		dx *= halfExtent[0];
+		dy *= halfExtent[1];
+		dz *= halfExtent[2];
+		glBegin(GL_LINE_LOOP);
+		glDrawVector(org - dx - dy - dz);
+		glDrawVector(org + dx - dy - dz);
+		glDrawVector(org + dx + dy - dz);
+		glDrawVector(org - dx + dy - dz);
+		glDrawVector(org - dx + dy + dz);
+		glDrawVector(org + dx + dy + dz);
+		glDrawVector(org + dx - dy + dz);
+		glDrawVector(org - dx - dy + dz);
+		glEnd();
+		glBegin(GL_LINES);
+		glDrawVector(org + dx - dy - dz);
+		glDrawVector(org + dx - dy + dz);
+		glDrawVector(org + dx + dy - dz);
+		glDrawVector(org + dx + dy + dz);
+		glDrawVector(org - dx - dy - dz);
+		glDrawVector(org - dx + dy - dz);
+		glDrawVector(org - dx - dy + dz);
+		glDrawVector(org - dx + dy + dz);
+		glEnd();
+		return;
+	}
+
+	glPushMatrix();
+	btglMultMatrix(m);
+
+
+	if (shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE)
+	{
+		const btUniformScalingShape* scalingShape = static_cast<const btUniformScalingShape*>(shape);
+		const btConvexShape* convexShape = scalingShape->getChildShape();
+		float	scalingFactor = (float)scalingShape->getUniformScalingFactor();
+		{
+			btScalar tmpScaling[4][4]={{scalingFactor,0,0,0},
+			{0,scalingFactor,0,0},
+			{0,0,scalingFactor,0},
+			{0,0,0,1}};
+
+			drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode,worldBoundsMin,worldBoundsMax);
+		}
+		glPopMatrix();
+		return;
+	}
+
+	if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
+	{
+		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
+		for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
+		{
+			btTransform childTrans = compoundShape->getChildTransform(i);
+			const btCollisionShape* colShape = compoundShape->getChildShape(i);
+			btScalar childMat[16];
+			childTrans.getOpenGLMatrix(childMat);
+			drawOpenGL(childMat,colShape,color,debugMode,worldBoundsMin,worldBoundsMax);
+		}
+
+	} else
+	{
+		if(m_textureenabled&&(!m_textureinitialized))
+		{
+			GLubyte*	image=new GLubyte[256*256*3];
+			for(int y=0;y<256;++y)
+			{
+				const int	t=y>>4;
+				GLubyte*	pi=image+y*256*3;
+				for(int x=0;x<256;++x)
+				{
+					const int		s=x>>4;
+					const GLubyte	b=180;
+					GLubyte			c=b+(((s+t)&1)&1)*(255-b);
+					pi[0]=pi[1]=pi[2]=c;pi+=3;
+				}
+			}
+
+			glGenTextures(1,(GLuint*)&m_texturehandle);
+			glBindTexture(GL_TEXTURE_2D,m_texturehandle);
+			glTexEnvf(GL_TEXTURE_ENV,GL_TEXTURE_ENV_MODE,GL_MODULATE);
+			glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR_MIPMAP_LINEAR);
+			glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR_MIPMAP_LINEAR);
+			glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_WRAP_S,GL_REPEAT);
+			glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_WRAP_T,GL_REPEAT);
+			gluBuild2DMipmaps(GL_TEXTURE_2D,3,256,256,GL_RGB,GL_UNSIGNED_BYTE,image);
+			delete[] image;
+
+			glMatrixMode(GL_TEXTURE);
+			glLoadIdentity();
+			glScalef(0.025,0.025,0.025);
+
+
+		}
+
+
+
+		static const GLfloat	planex[]={1,0,0,0};
+//			static const GLfloat	planey[]={0,1,0,0};
+			static const GLfloat	planez[]={0,0,1,0};
+			glTexGenfv(GL_S,GL_OBJECT_PLANE,planex);
+			glTexGenfv(GL_T,GL_OBJECT_PLANE,planez);
+			glTexGeni(GL_S,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
+			glTexGeni(GL_T,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
+			glEnable(GL_TEXTURE_GEN_S);
+			glEnable(GL_TEXTURE_GEN_T);
+			glEnable(GL_TEXTURE_GEN_R);
+			m_textureinitialized=true;
+
+
+
+
+		//drawCoordSystem();
+
+		//glPushMatrix();
+		glEnable(GL_COLOR_MATERIAL);
+		if(m_textureenabled)
+		{
+			glEnable(GL_TEXTURE_2D);
+			glBindTexture(GL_TEXTURE_2D,m_texturehandle);
+		} else
+		{
+			glDisable(GL_TEXTURE_2D);
+		}
+
+
+		glColor3f(color.x(),color.y(), color.z());
+
+		bool useWireframeFallback = true;
+
+		if (!(debugMode & btIDebugDraw::DBG_DrawWireframe))
+		{
+			///you can comment out any of the specific cases, and use the default
+
+			///the benefit of 'default' is that it approximates the actual collision shape including collision margin
+			//int shapetype=m_textureenabled?MAX_BROADPHASE_COLLISION_TYPES:shape->getShapeType();
+			int shapetype=shape->getShapeType();
+			switch (shapetype)
+			{
+
+				case SPHERE_SHAPE_PROXYTYPE:
+				{
+					const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
+					float radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
+					drawSphere(radius,10,10);
+					useWireframeFallback = false;
+					break;
+				}
+
+				case BOX_SHAPE_PROXYTYPE:
+				{
+					const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
+					btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
+
+					static int indices[36] = {
+						0,1,2,
+						3,2,1,
+						4,0,6,
+						6,0,2,
+						5,1,4,
+						4,1,0,
+						7,3,1,
+						7,1,5,
+						5,4,7,
+						7,4,6,
+						7,2,3,
+						7,6,2};
+
+					static btVector3 vertices[8]={	btVector3(1,1,1),btVector3(-1,1,1),	btVector3(1,-1,1),	btVector3(-1,-1,1),	btVector3(1,1,-1),	btVector3(-1,1,-1),	btVector3(1,-1,-1),	btVector3(-1,-1,-1)};
+					glBegin (GL_TRIANGLES);
+					int si=36;
+					for (int i=0;i<si;i+=3)
+					{
+						btVector3 v1 = vertices[indices[i]]*halfExtent;
+						btVector3 v2 = vertices[indices[i+1]]*halfExtent;
+						btVector3 v3 = vertices[indices[i+2]]*halfExtent;
+						btVector3 normal = (v3-v1).cross(v2-v1);
+						normal.normalize ();
+
+						glNormal3f(normal.getX(),normal.getY(),normal.getZ());
+						glVertex3f (v1.x(), v1.y(), v1.z());
+						glVertex3f (v2.x(), v2.y(), v2.z());
+						glVertex3f (v3.x(), v3.y(), v3.z());
+
+					}
+					glEnd();
+
+					useWireframeFallback = false;
+					break;
+				}
+
+
+
+#if 0
+
+			case CONE_SHAPE_PROXYTYPE:
+				{
+					const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
+					int upIndex = coneShape->getConeUpIndex();
+					float radius = coneShape->getRadius();//+coneShape->getMargin();
+					float height = coneShape->getHeight();//+coneShape->getMargin();
+					switch (upIndex)
+					{
+					case 0:
+						glRotatef(90.0, 0.0, 1.0, 0.0);
+						break;
+					case 1:
+						glRotatef(-90.0, 1.0, 0.0, 0.0);
+						break;
+					case 2:
+						break;
+					default:
+						{
+						}
+					};
+
+					glTranslatef(0.0, 0.0, -0.5*height);
+					glutSolidCone(radius,height,10,10);
+					useWireframeFallback = false;
+					break;
+
+				}
+#endif
+
+			case STATIC_PLANE_PROXYTYPE:
+				{
+					const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
+					btScalar planeConst = staticPlaneShape->getPlaneConstant();
+					const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
+					btVector3 planeOrigin = planeNormal * planeConst;
+					btVector3 vec0,vec1;
+					btPlaneSpace1(planeNormal,vec0,vec1);
+					btScalar vecLen = 100.f;
+					btVector3 pt0 = planeOrigin + vec0*vecLen;
+					btVector3 pt1 = planeOrigin - vec0*vecLen;
+					btVector3 pt2 = planeOrigin + vec1*vecLen;
+					btVector3 pt3 = planeOrigin - vec1*vecLen;
+					glBegin(GL_LINES);
+					glVertex3f(pt0.getX(),pt0.getY(),pt0.getZ());
+					glVertex3f(pt1.getX(),pt1.getY(),pt1.getZ());
+					glVertex3f(pt2.getX(),pt2.getY(),pt2.getZ());
+					glVertex3f(pt3.getX(),pt3.getY(),pt3.getZ());
+					glEnd();
+
+
+					break;
+
+				}
+
+/*
+			case CYLINDER_SHAPE_PROXYTYPE:
+				{
+					const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
+					int upAxis = cylinder->getUpAxis();
+
+
+					float radius = cylinder->getRadius();
+					float halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
+
+					drawCylinder(radius,halfHeight,upAxis);
+
+					break;
+				}
+*/
+
+			case MULTI_SPHERE_SHAPE_PROXYTYPE:
+			{
+				const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
+
+				btTransform childTransform;
+				childTransform.setIdentity();
+
+
+				for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
+				{
+					btSphereShape sc(multiSphereShape->getSphereRadius(i));
+					childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
+					btScalar childMat[16];
+					childTransform.getOpenGLMatrix(childMat);
+					drawOpenGL(childMat,&sc,color,debugMode,worldBoundsMin,worldBoundsMax);
+				}
+
+				break;
+			}
+
+			default:
+				{
+
+
+					if (shape->isConvex())
+					{
+						ShapeCache*	sc=cache((btConvexShape*)shape);
+#if 0
+						btConvexShape* convexShape = (btConvexShape*)shape;
+						if (!shape->getUserPointer())
+						{
+							//create a hull approximation
+							void* mem = btAlignedAlloc(sizeof(btShapeHull),16);
+							btShapeHull* hull = new(mem) btShapeHull(convexShape);
+
+							///cleanup memory
+							m_shapeHulls.push_back(hull);
+
+							btScalar margin = shape->getMargin();
+							hull->buildHull(margin);
+							convexShape->setUserPointer(hull);
+
+
+							//	printf("numTriangles = %d\n", hull->numTriangles ());
+							//	printf("numIndices = %d\n", hull->numIndices ());
+							//	printf("numVertices = %d\n", hull->numVertices ());
+
+
+						}
+#endif
+
+
+
+						//if (shape->getUserPointer())
+						{
+							//glutSolidCube(1.0);
+							btShapeHull* hull = &sc->m_shapehull/*(btShapeHull*)shape->getUserPointer()*/;
+
+
+							if (hull->numTriangles () > 0)
+							{
+								int index = 0;
+								const unsigned int* idx = hull->getIndexPointer();
+								const btVector3* vtx = hull->getVertexPointer();
+
+								glBegin (GL_TRIANGLES);
+
+								for (int i = 0; i < hull->numTriangles (); i++)
+								{
+									int i1 = index++;
+									int i2 = index++;
+									int i3 = index++;
+									btAssert(i1 < hull->numIndices () &&
+										i2 < hull->numIndices () &&
+										i3 < hull->numIndices ());
+
+									int index1 = idx[i1];
+									int index2 = idx[i2];
+									int index3 = idx[i3];
+									btAssert(index1 < hull->numVertices () &&
+										index2 < hull->numVertices () &&
+										index3 < hull->numVertices ());
+
+									btVector3 v1 = vtx[index1];
+									btVector3 v2 = vtx[index2];
+									btVector3 v3 = vtx[index3];
+									btVector3 normal = (v3-v1).cross(v2-v1);
+									normal.normalize ();
+
+									glNormal3f(normal.getX(),normal.getY(),normal.getZ());
+									glVertex3f (v1.x(), v1.y(), v1.z());
+									glVertex3f (v2.x(), v2.y(), v2.z());
+									glVertex3f (v3.x(), v3.y(), v3.z());
+
+								}
+								glEnd ();
+
+							}
+						}
+					}
+				}
+			}
+
+		}
+
+
+
+
+		/// for polyhedral shapes
+		if (debugMode==btIDebugDraw::DBG_DrawFeaturesText && (shape->isPolyhedral()))
+		{
+			btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
+
+			{
+				glRasterPos3f(0.0,  0.0,  0.0);
+				//btDrawString(BMF_GetFont(BMF_kHelvetica10),polyshape->getExtraDebugInfo());
+
+				glColor3f(1.f, 1.f, 1.f);
+				int i;
+				for (i=0;i<polyshape->getNumVertices();i++)
+				{
+					btVector3 vtx;
+					polyshape->getVertex(i,vtx);
+					glRasterPos3f(vtx.x(),  vtx.y(),  vtx.z());
+					char buf[12];
+					sprintf(buf," %d",i);
+					//btDrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+				}
+
+				for (i=0;i<polyshape->getNumPlanes();i++)
+				{
+					btVector3 normal;
+					btVector3 vtx;
+					polyshape->getPlane(normal,vtx,i);
+					btScalar d = vtx.dot(normal);
+
+					glRasterPos3f(normal.x()*d,  normal.y()*d, normal.z()*d);
+					char buf[12];
+					sprintf(buf," plane %d",i);
+					//btDrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+
+				}
+			}
+
+		}
+
+
+#ifdef USE_DISPLAY_LISTS
+
+		if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
+		{
+			GLuint dlist =   OGL_get_displaylist_for_shape((btCollisionShape * )shape);
+			if (dlist)
+			{
+				glCallList(dlist);
+			}
+			else
+			{
+#else
+		if (shape->isConcave() && !shape->isInfinite())
+		{
+			btConcaveShape* concaveMesh = (btConcaveShape*) shape;
+
+			GlDrawcallback drawCallback;
+			drawCallback.m_wireframe = (debugMode & btIDebugDraw::DBG_DrawWireframe)!=0;
+
+			concaveMesh->processAllTriangles(&drawCallback,worldBoundsMin,worldBoundsMax);
+
+		}
+#endif
+
+#ifdef USE_DISPLAY_LISTS
+	}
+}
+#endif
+
+
+
+
+
+glDisable(GL_DEPTH_TEST);
+glRasterPos3f(0,0,0);//mvtx.x(),  vtx.y(),  vtx.z());
+if (debugMode&btIDebugDraw::DBG_DrawText)
+{
+	GLDebugDrawString(0,0,shape->getName());
+}
+
+if (debugMode& btIDebugDraw::DBG_DrawFeaturesText)
+{
+	//btDrawString(BMF_GetFont(BMF_kHelvetica10),shape->getExtraDebugInfo());
+}
+glEnable(GL_DEPTH_TEST);
+
+//	glPopMatrix();
+if(m_textureenabled) glDisable(GL_TEXTURE_2D);
+	}
+	glPopMatrix();
+
+}
+
+//
+void		GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
+{
+	glPushMatrix();
+	btglMultMatrix(m);
+	if(shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE)
+	{
+		const btUniformScalingShape* scalingShape = static_cast<const btUniformScalingShape*>(shape);
+		const btConvexShape* convexShape = scalingShape->getChildShape();
+		float	scalingFactor = (float)scalingShape->getUniformScalingFactor();
+		btScalar tmpScaling[4][4]={	{scalingFactor,0,0,0},
+		{0,scalingFactor,0,0},
+		{0,0,scalingFactor,0},
+		{0,0,0,1}};
+		drawShadow((btScalar*)tmpScaling,extrusion,convexShape,worldBoundsMin,worldBoundsMax);
+		glPopMatrix();
+		return;
+	}
+	else if(shape->getShapeType()==COMPOUND_SHAPE_PROXYTYPE)
+	{
+		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
+		for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
+		{
+			btTransform childTrans = compoundShape->getChildTransform(i);
+			const btCollisionShape* colShape = compoundShape->getChildShape(i);
+			btScalar childMat[16];
+			childTrans.getOpenGLMatrix(childMat);
+			drawShadow(childMat,extrusion*childTrans.getBasis(),colShape,worldBoundsMin,worldBoundsMax);
+		}
+	}
+	else
+	{
+		if (shape->isConvex())
+		{
+			ShapeCache*	sc=cache((btConvexShape*)shape);
+			btShapeHull* hull =&sc->m_shapehull;
+			glBegin(GL_QUADS);
+			for(int i=0;i<sc->m_edges.size();++i)
+			{
+				const btScalar		d=btDot(sc->m_edges[i].n[0],extrusion);
+				if((d*btDot(sc->m_edges[i].n[1],extrusion))<0)
+				{
+					const int			q=	d<0?1:0;
+					const btVector3&	a=	hull->getVertexPointer()[sc->m_edges[i].v[q]];
+					const btVector3&	b=	hull->getVertexPointer()[sc->m_edges[i].v[1-q]];
+					glVertex3f(a[0],a[1],a[2]);
+					glVertex3f(b[0],b[1],b[2]);
+					glVertex3f(b[0]+extrusion[0],b[1]+extrusion[1],b[2]+extrusion[2]);
+					glVertex3f(a[0]+extrusion[0],a[1]+extrusion[1],a[2]+extrusion[2]);
+				}
+			}
+			glEnd();
+		}
+
+	}
+
+
+
+
+	if (shape->isConcave())//>getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
+		//		if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
+	{
+		btConcaveShape* concaveMesh = (btConcaveShape*) shape;
+
+		GlDrawcallback drawCallback;
+		drawCallback.m_wireframe = false;
+
+		concaveMesh->processAllTriangles(&drawCallback,worldBoundsMin,worldBoundsMax);
+
+	}
+	glPopMatrix();
+
+}
+
+//
+GL_ShapeDrawer::GL_ShapeDrawer()
+{
+	m_texturehandle			=	0;
+	m_textureenabled		=	false;
+	m_textureinitialized	=	false;
+}
+
+GL_ShapeDrawer::~GL_ShapeDrawer()
+{
+	int i;
+	for (i=0;i<m_shapecaches.size();i++)
+	{
+		m_shapecaches[i]->~ShapeCache();
+		btAlignedFree(m_shapecaches[i]);
+	}
+	m_shapecaches.clear();
+	if(m_textureinitialized)
+	{
+		glDeleteTextures(1,(const GLuint*) &m_texturehandle);
+	}
+}
+
+
Index: /proiecte/SIMEO/Simeo/src/SimeoGui/GL_ShapeDrawer.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoGui/GL_ShapeDrawer.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoGui/GL_ShapeDrawer.h	(revision 167)
@@ -0,0 +1,70 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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 GL_SHAPE_DRAWER_H
+#define GL_SHAPE_DRAWER_H
+
+class btCollisionShape;
+class btShapeHull;
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btVector3.h"
+
+#include "BulletCollision/CollisionShapes/btShapeHull.h"
+
+/// OpenGL shape drawing
+class GL_ShapeDrawer
+{
+protected:
+	struct ShapeCache
+	{
+	struct Edge { btVector3 n[2];int v[2]; };
+	ShapeCache(btConvexShape* s) : m_shapehull(s) {}
+	btShapeHull					m_shapehull;
+	btAlignedObjectArray<Edge>	m_edges;
+	};
+	//clean-up memory of dynamically created shape hulls
+	btAlignedObjectArray<ShapeCache*>	m_shapecaches;
+	unsigned int						m_texturehandle;
+	bool								m_textureenabled;
+	bool								m_textureinitialized;
+	
+
+	ShapeCache*							cache(btConvexShape*);
+
+public:
+		GL_ShapeDrawer();
+
+		virtual ~GL_ShapeDrawer();
+
+		///drawOpenGL might allocate temporary memoty, stores pointer in shape userpointer
+		virtual void		drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int	debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);
+		virtual void		drawShadow(btScalar* m, const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);
+		
+		bool		enableTexture(bool enable) { bool p=m_textureenabled;m_textureenabled=enable;return(p); }
+		bool		hasTextureEnabled() const
+		{
+			return m_textureenabled;
+		}
+		
+		static void		drawCylinder(float radius,float halfHeight, int upAxis);
+		void			drawSphere(btScalar r, int lats, int longs);
+		static void		drawCoordSystem();
+		
+};
+
+void OGL_displaylist_register_shape(btCollisionShape * shape);
+void OGL_displaylist_clean();
+
+#endif //GL_SHAPE_DRAWER_H
+
Index: /proiecte/SIMEO/Simeo/src/SimeoGui/GlutStuff.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoGui/GlutStuff.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoGui/GlutStuff.cpp	(revision 167)
@@ -0,0 +1,107 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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 "DemoApplication.h"
+
+//glut is C code, this global gDemoApplication links glut to the C++ demo
+static DemoApplication* gDemoApplication = 0;
+
+
+#include "GlutStuff.h"
+
+static	void glutKeyboardCallback(unsigned char key, int x, int y)
+{
+	gDemoApplication->keyboardCallback(key,x,y);
+}
+
+static	void glutKeyboardUpCallback(unsigned char key, int x, int y)
+{
+  gDemoApplication->keyboardUpCallback(key,x,y);
+}
+
+static void glutSpecialKeyboardCallback(int key, int x, int y)
+{
+	gDemoApplication->specialKeyboard(key,x,y);
+}
+
+static void glutSpecialKeyboardUpCallback(int key, int x, int y)
+{
+	gDemoApplication->specialKeyboardUp(key,x,y);
+}
+
+
+static void glutReshapeCallback(int w, int h)
+{
+	gDemoApplication->reshape(w,h);
+}
+
+static void glutMoveAndDisplayCallback()
+{
+	gDemoApplication->moveAndDisplay();
+}
+
+static void glutMouseFuncCallback(int button, int state, int x, int y)
+{
+	gDemoApplication->mouseFunc(button,state,x,y);
+}
+
+
+static void	glutMotionFuncCallback(int x,int y)
+{
+	gDemoApplication->mouseMotionFunc(x,y);
+}
+
+
+static void glutDisplayCallback(void)
+{
+	gDemoApplication->displayCallback();
+}
+
+
+int glutmain(int argc, char **argv,int width,int height,const char* title,DemoApplication* demoApp) {
+    
+	gDemoApplication = demoApp;
+
+	glutInit(&argc, argv);
+    glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH | GLUT_STENCIL);
+    glutInitWindowPosition(0, 0);
+    glutInitWindowSize(width, height);
+    glutCreateWindow(title);
+#ifdef BT_USE_FREEGLUT
+	glutSetOption (GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_GLUTMAINLOOP_RETURNS);
+#endif
+
+    gDemoApplication->myinit();
+
+	glutKeyboardFunc(glutKeyboardCallback);
+	glutKeyboardUpFunc(glutKeyboardUpCallback);
+	glutSpecialFunc(glutSpecialKeyboardCallback);
+	glutSpecialUpFunc(glutSpecialKeyboardUpCallback);
+
+	glutReshapeFunc(glutReshapeCallback);
+    //createMenu();
+	glutIdleFunc(glutMoveAndDisplayCallback);
+	glutMouseFunc(glutMouseFuncCallback);
+	glutMotionFunc(glutMotionFuncCallback);
+	glutDisplayFunc( glutDisplayCallback );
+
+	glutMoveAndDisplayCallback();
+	
+    glutMainLoop();
+    return 0;
+}
+
+
Index: /proiecte/SIMEO/Simeo/src/SimeoGui/GlutStuff.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoGui/GlutStuff.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoGui/GlutStuff.h	(revision 167)
@@ -0,0 +1,80 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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 GLUT_STUFF_H
+#define GLUT_STUFF_H
+
+#ifdef WIN32//for glut.h
+#include <windows.h>
+#endif
+
+//think different
+#if defined(__APPLE__) && !defined (VMDMESA)
+#include <OpenGL/gl.h>
+#include <OpenGL/glu.h>
+#include <GLUT/glut.h>
+#else
+
+#include <GL/glut.h>
+#ifdef _WINDOWS
+#include <windows.h>
+#include <GL/gl.h>
+#include <GL/glu.h>
+#endif
+#endif
+
+
+#define BT_KEY_K 'k'
+#define BT_KEY_LEFT			GLUT_KEY_LEFT
+#define BT_KEY_RIGHT		GLUT_KEY_RIGHT
+#define BT_KEY_UP			GLUT_KEY_UP
+#define BT_KEY_DOWN			GLUT_KEY_DOWN
+#define	BT_KEY_F1			GLUT_KEY_F1
+#define	BT_KEY_F2			GLUT_KEY_F2
+#define	BT_KEY_F3			GLUT_KEY_F3
+#define	BT_KEY_F4			GLUT_KEY_F4
+#define	BT_KEY_F5			GLUT_KEY_F5
+#define BT_KEY_PAGEUP		GLUT_KEY_PAGE_UP
+#define BT_KEY_PAGEDOWN		GLUT_KEY_PAGE_DOWN
+#define BT_KEY_END			GLUT_KEY_END
+#define BT_KEY_HOME			GLUT_KEY_HOME
+#define BT_ACTIVE_ALT		GLUT_ACTIVE_ALT
+#define	BT_ACTIVE_CTRL		GLUT_ACTIVE_ALT
+#define BT_ACTIVE_SHIFT		GLUT_ACTIVE_SHIFT
+
+
+
+#if BT_USE_FREEGLUT
+#include "GL/freeglut_ext.h" //to be able to return from glutMainLoop()
+#endif
+
+
+
+class DemoApplication;
+
+int glutmain(int argc, char **argv,int width,int height,const char* title,DemoApplication* demoApp);
+
+#if defined(BT_USE_DOUBLE_PRECISION)
+#define btglLoadMatrix glLoadMatrixd
+#define btglMultMatrix glMultMatrixd
+#define btglColor3 glColor3d
+#define btglVertex3 glVertex3d
+#else
+#define btglLoadMatrix glLoadMatrixf
+#define btglMultMatrix glMultMatrixf
+#define btglColor3 glColor3f
+#define btglVertex3 glVertex3d
+#endif
+
+#endif //GLUT_STUFF_H
Index: /proiecte/SIMEO/Simeo/src/SimeoGui/Gui.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoGui/Gui.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoGui/Gui.cpp	(revision 167)
@@ -0,0 +1,15 @@
+#include <stdio.h>
+#include "Gui.h"
+
+Gui()
+{
+
+
+}
+
+~Gui()
+{
+
+}
+
+
Index: /proiecte/SIMEO/Simeo/src/SimeoGui/Gui.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoGui/Gui.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoGui/Gui.h	(revision 167)
@@ -0,0 +1,17 @@
+#ifndef GUI_H
+#define GUI_H
+
+
+class Gui
+{
+public:
+
+private:
+	Gui();
+
+	~Gui();
+
+};
+
+#endif //GUI_H
+
Index: /proiecte/SIMEO/Simeo/src/SimeoGui/GuiUpdater.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoGui/GuiUpdater.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoGui/GuiUpdater.cpp	(revision 167)
@@ -0,0 +1,269 @@
+#include "GuiUpdater.h"
+
+
+GuiUpdater::GuiUpdater(int port, hostent *serv)
+{
+	portno = port;
+	server = serv;
+}
+
+
+GuiUpdater::~GuiUpdater()
+{
+
+}
+
+
+void GuiUpdater::init()
+{
+	char buffer[256];
+	int n;
+
+    sockfd = socket(AF_INET, SOCK_STREAM, 0);
+
+    if (sockfd < 0) {
+        printf("Error opening socket\n");
+		exit(0);
+	}
+
+    if (server == NULL) {
+        printf("Error, no such host\n");
+        exit(0);
+    }
+
+    memset((char *) &serv_addr, 0, sizeof(serv_addr));
+    serv_addr.sin_family = AF_INET;
+    memcpy((char *)&serv_addr.sin_addr.s_addr,
+    	   (char *)server->h_addr,
+           server->h_length);
+    serv_addr.sin_port = htons(portno);
+
+    if (connect(sockfd,(struct sockaddr*) &serv_addr,sizeof(serv_addr)) < 0) {
+        printf("Error connecting!\n");
+		exit(0);
+	}
+
+    // astept mesaj de la server
+    memset(buffer, 0, 256);
+    n = recv(sockfd, buffer, 255, 0);
+
+    if (n < 0) {
+	    printf("Error reading from socket!\n");
+		exit(0);
+	}
+
+    printf("[SRV]%s\n", buffer);
+
+}
+
+void GuiUpdater::receiveData(int sock, void* buffer, size_t size)
+{
+	size_t total;
+	int ret;
+
+	for (total = 0; total < size; total += ret) {
+		ret = recv(sock, (char *) buffer + total, size - total, 0);
+		if (ret <= 0) {
+			perror("recv");
+			exit(-1);
+		}
+	}
+}
+
+void* GuiUpdater::unpackInt(void *buffer, int &a)
+{
+	int *buff = (int *) buffer;
+	a = *buff ++;
+
+	return buff;
+}
+
+void* GuiUpdater::unpackScalar(void *buffer, btScalar &a)
+{
+	float *buff = (float *) buffer;
+	a = *buff ++;
+
+	return buff;
+}
+
+void* GuiUpdater::unpackVector3(void *buffer, btVector3 &v)
+{
+	btScalar a;
+
+	buffer = unpackScalar(buffer, a);
+	v.setX(a);
+	buffer = unpackScalar(buffer, a);
+	v.setY(a);
+	buffer = unpackScalar(buffer, a);
+	v.setZ(a);
+
+	return buffer;
+}
+
+void* GuiUpdater::unpackMatrix3x3(void *buffer, btMatrix3x3 &m)
+{
+	btVector3 v;
+
+	for (int i = 0; i < 3; ++ i) {
+		buffer = unpackVector3(buffer, m[i]);
+	}
+
+	return buffer;
+}
+
+void GuiUpdater::unpackAddData(void *buffer, int n, map<int,guiAddData *> &addObjects)
+{
+	for (int i = 0; i < n; ++ i) {
+		guiAddData *obj = new guiAddData;
+		int j;
+
+		buffer = unpackInt(buffer, obj->id);
+		buffer = unpackInt(buffer, obj->numIndices);
+
+		obj->indexPointer = new int [obj->numIndices];
+		for (j = 0; j < obj->numIndices; ++ j) {
+			buffer = unpackInt(buffer, obj->indexPointer[j]);
+		}
+
+		buffer = unpackInt(buffer, obj->numVertices);
+		obj->vertexPointer = new btVector3 [obj->numVertices];
+		for (j = 0; j < obj->numVertices; ++ j) {
+				buffer = unpackVector3(buffer, obj->vertexPointer[j]);
+		}
+
+		addObjects[obj->id] = obj;
+	}
+}
+
+void GuiUpdater::unpackUpdateData(void *buffer, int n, map<int, guiUpdateData *> &updateObjects)
+{
+	for (int i = 0; i < n; ++ i) {
+		guiUpdateData *obj = new guiUpdateData;
+		int j;
+
+		buffer = unpackInt(buffer, obj->id);
+
+		for (j = 0; j < 16; ++ j) {
+			buffer = unpackScalar(buffer, obj->m[j]);
+		}
+
+		buffer = unpackMatrix3x3(buffer, obj->rot);
+
+		buffer = unpackVector3(buffer, obj->aabbMin);
+
+		buffer = unpackVector3(buffer, obj->aabbMax);
+
+		updateObjects[obj->id] = obj;
+	}
+}
+
+void GuiUpdater::applyChanges(map<int, guiAddData *> addObjects, map<int, guiUpdateData *> updateObjects, int *removeObjects, int remObjNum)
+{
+//	getchar();
+	map<int, guiAddData *>::iterator it_add = addObjects.begin();
+	for ( ; it_add != addObjects.end(); it_add ++) {
+//		printf("[%d]\n", addObjects.coun);
+		if (m_cache.find(it_add->first) != m_cache.end()) {
+			printf("Adding existing object\n");
+			exit(-1);
+		}
+
+		guiObject *obj = new guiObject;
+		obj->ad = it_add->second;
+		if (m_cache[it_add->second->id]) delete m_cache[it_add->second->id];
+		m_cache[it_add->second->id] = obj;
+	}
+
+	map<int, guiUpdateData *>::iterator it_update = updateObjects.begin();
+	for ( ; it_update != updateObjects.end(); it_update ++) {
+		if (m_cache.find(it_update->first) != m_cache.end()) {
+			guiObject *obj = m_cache.find(it_update->first)->second;
+			obj->ud = it_update->second;
+		} else {
+			printf("Updating missing object\n");
+//			exit(-1);
+		}
+	}
+
+	map<int, guiObject *>::iterator it;
+	for (int i = 0; i < remObjNum; ++ i) {
+		it = m_cache.find(removeObjects[i]);
+		if (it != m_cache.end()) {
+			delete it->second;
+			m_cache.erase(it);
+		}
+	}
+}
+
+int GuiUpdater::update()
+{
+	map<int, guiAddData *> addObjects;
+	map<int, guiUpdateData *> updateObjects;
+	int *removeObjects;
+
+//	char buffer[256];
+	char ask = 'a';
+	int n;
+
+	n = send(sockfd,(const void*) &ask,1, 0);
+	if (n < 0) {
+			printf("Error writing to socket!\n");
+		exit(0);
+	}
+
+
+	int size;
+
+	// receive add objects
+	receiveData(sockfd, (void *) &n, sizeof(int));
+	receiveData(sockfd, (void *) &size, sizeof(int));
+
+
+	void *buffer = new char [size];
+	receiveData(sockfd, (void *) buffer, size);
+	unpackAddData(buffer, n, addObjects);
+	delete [] (char *) buffer;
+	printf("added object no = %d (%d)\n", (int) addObjects.size(), n);
+
+	// receive update objects
+	receiveData(sockfd, (void *) &n, sizeof(int));
+	receiveData(sockfd, (void *) &size, sizeof(int));
+	buffer = new char [size];
+	receiveData(sockfd, (void *) buffer, size);
+	unpackUpdateData(buffer, n, updateObjects);
+	delete [] (char *) buffer;
+
+	printf("updated object no = %d (%d)\n", (int) updateObjects.size(), n);
+	map<int, guiUpdateData *>::iterator it = updateObjects.begin();
+	for ( ; it != updateObjects.end(); it ++) {
+		for (int j = 0; j < 16; ++ j) {
+		//	buffer = unpackScalar(buffer, obj->m[j]);
+			printf("TEST %d, %d: %f\n", j, it->first, it->second->m[j]);
+		}
+	}
+
+	// receive remove objects
+	receiveData(sockfd, (void *) &n, sizeof(int));
+	removeObjects = new int[n];	// the number of objects (object ids in this case)
+	receiveData(sockfd, (void *) &size, sizeof(int));
+	buffer = new char [size];
+	receiveData(sockfd, (void *) buffer, size);
+
+	for (int i = 0; i < n; ++ i) {
+		buffer = unpackInt(buffer, removeObjects[i]);
+	}
+
+	delete [] (int *) buffer;
+
+	applyChanges(addObjects, updateObjects, removeObjects, n);
+
+//	gd = new guiUpdateData[n];
+//	receiveData(sockfd, (void *) gd, sizeof(guiUpdateData) * n);
+
+	return n;
+}
+
+
+
+
+
Index: /proiecte/SIMEO/Simeo/src/SimeoGui/GuiUpdater.h
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoGui/GuiUpdater.h	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoGui/GuiUpdater.h	(revision 167)
@@ -0,0 +1,71 @@
+#ifndef GUIUPDATER_H
+#define GUIUPDATER_H
+
+#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+
+#include <vector>
+#include <map>
+
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <netdb.h>
+
+using namespace std;
+
+typedef struct {
+	int id;
+	btScalar m[16];
+	btMatrix3x3 rot;
+	btVector3 aabbMin, aabbMax;
+} guiUpdateData;
+
+typedef struct {
+	int id;
+	int numVertices;
+	int numIndices;
+	btVector3 *vertexPointer;
+	int *indexPointer;
+} guiAddData;
+
+typedef struct {
+	guiUpdateData *ud;
+	guiAddData *ad;
+} guiObject;
+
+class GuiUpdater
+{
+
+private:
+    int sockfd, portno;
+    struct sockaddr_in serv_addr;
+    struct hostent *server;
+
+	void receiveData(int sock, void* buffer, size_t size);
+
+	// unpacking data
+	void* unpackInt(void *buffer, int &a);
+	void* unpackScalar(void *buffer, btScalar &a);
+	void* unpackVector3(void *buffer, btVector3 &v);
+	void* unpackMatrix3x3(void *buffer, btMatrix3x3 &m);
+	void unpackAddData(void *buffer, int n, map<int,guiAddData *> &addObjects);
+	void unpackUpdateData(void *buffer, int n, map<int, guiUpdateData *> &updateObjects);
+
+	void applyChanges(map<int, guiAddData *> addObjects, map<int, guiUpdateData *> updateObjects, int *removeObjects, int remObjNum);
+
+public:
+	map<int, guiObject *> m_cache;
+
+	GuiUpdater(int port, hostent *serv);
+	~GuiUpdater();
+
+	void init();
+	int update();
+};
+
+#endif
+
Index: /proiecte/SIMEO/Simeo/src/SimeoGui/main.cpp
===================================================================
--- /proiecte/SIMEO/Simeo/src/SimeoGui/main.cpp	(revision 167)
+++ /proiecte/SIMEO/Simeo/src/SimeoGui/main.cpp	(revision 167)
@@ -0,0 +1,60 @@
+#include <stdio.h>
+#include "DemoApplication.h"
+#include "GuiUpdater.h"
+#include <BulletDynamics/Dynamics/btRigidBody.h>
+
+#include <pthread.h>
+
+typedef struct {
+	DemoApplication *demo;
+	int argc;
+	char **argv;
+} threadParam;
+
+void *guiThreadCode(void *args)
+{
+	threadParam *param = (threadParam*)args;
+
+	DemoApplication *vworld = param->demo;
+	char **argv = param->argv;
+	int argc = param->argc;
+
+	int ret = glutmain(argc, argv, 640, 480, "SIMEO GUI", vworld);
+
+	if(ret < 0)
+		printf("Error launching glutmain\n");
+
+	return NULL;
+}
+
+int main(int argc, char *argv[])
+{
+	printf("SimeoGui\n");
+
+	if (argc != 3) {
+		fprintf(stderr, "Usage: %s <host> <port>\n", argv[0]);
+		return 1;
+	}
+
+	pthread_t guiThread;
+	threadParam param;
+
+	DemoApplication *demo = new DemoApplication();
+
+	param.demo = demo;
+	param.argc = argc;
+	param.argv = argv;
+
+	GuiUpdater *updater = new GuiUpdater(atoi(argv[2]), gethostbyname(argv[1]));
+
+	pthread_create(&guiThread, NULL, guiThreadCode,	&param);
+
+	updater->init();
+
+	while (1) {
+		updater->update();
+		demo->updateInfo(updater->m_cache);
+	}
+
+	return 0;
+}
