Index: proiecte/SIMEO/SimeoDemo/.gdbinit
===================================================================
--- proiecte/SIMEO/SimeoDemo/.gdbinit	(revision 168)
+++ proiecte/SIMEO/SimeoDemo/.gdbinit	(revision 168)
@@ -0,0 +1,6 @@
+handle SIGHUP nostop print
+handle SIGPWR nostop noprint
+handle SIGXCPU nostop noprint
+handle SIG32 nostop noprint
+handle SIG33 nostop noprint
+handle SIGSEGV nostop print
Index: proiecte/SIMEO/SimeoDemo/Agent.java
===================================================================
--- proiecte/SIMEO/SimeoDemo/Agent.java	(revision 168)
+++ proiecte/SIMEO/SimeoDemo/Agent.java	(revision 168)
@@ -0,0 +1,31 @@
+import java.util.List;
+import java.util.ArrayList;
+
+public class Agent {
+	List<Sensor> sensorList;
+	int col, row;
+	int step;
+	
+	public Agent(List<Sensor> sensorList, int col, int row) {
+		this.sensorList = new ArrayList<Sensor>();
+		this.sensorList.addAll(sensorList);
+		this.col = col;
+		this.row = row;
+	}
+
+	public void step() {
+		for (Sensor sensor : sensorList) {
+			if (sensor.getType() < 2) {
+				// LEFT (0) or RIGHT (1)
+				int id = sensor.getType() == 0 ? col * 2 : col * 2 + 1;
+				sensor.setTargetAngle((float) (Math.PI / 2 * Math.sin(Math.PI / 4 * id - step * Math.PI / 100)), (float) 10000);
+			} else {
+				// UP (2) or DOWN (3)
+				sensor.setTargetAngle((float) 0, (float) 1000);
+			}
+		}	
+		step++;
+	}
+}
+
+
Index: proiecte/SIMEO/SimeoDemo/BasicDemo.cpp
===================================================================
--- proiecte/SIMEO/SimeoDemo/BasicDemo.cpp	(revision 168)
+++ proiecte/SIMEO/SimeoDemo/BasicDemo.cpp	(revision 168)
@@ -0,0 +1,587 @@
+/*
+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.
+*/
+
+
+///create 125 (5x5x5) dynamic object
+#define ARRAY_SIZE_X 2
+#define ARRAY_SIZE_Y 2
+#define ARRAY_SIZE_Z 2
+
+#define SIZE 2
+
+//maximum number of objects (and allow user to shoot additional boxes)
+#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
+
+///scaling of the objects (0.1 = 20 centimeter boxes )
+#define SCALING 2.
+#define START_POS_X -5
+#define START_POS_Y -5
+#define START_POS_Z -3
+
+#define M_PI	3.14159265358979323846
+#define HEIGHT	7
+
+#include "BasicDemo.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;
+
+btScalar BasicDemo::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;
+}
+
+void BasicDemo::updateSensors() {
+	int i;
+	btHingeConstraint *joint;
+	Sensor *sensor;
+	
+	for(i = 0; i < m_sensors.size(); i++) {
+		joint = (btHingeConstraint*) m_joints[m_sensors[i].first];
+		sensor = m_sensors[i].second;
+		sensor->setAngle(joint->getHingeAngle());
+	}	
+}
+
+void BasicDemo::updateActuators() {
+	int i;
+	btHingeConstraint *joint;
+	Sensor *sensor;
+	
+	for(i = 0; i < m_sensors.size(); i++) {
+		joint = (btHingeConstraint*) m_joints[m_sensors[i].first];
+		sensor = m_sensors[i].second;
+		if (sensor->getForce() > 0.0f)
+			joint->enableAngularMotor(true, computeVelocity(joint->getHingeAngle(), btScalar(sensor->getTargetAngle())) * 10, btScalar(sensor->getForce()));
+		else
+			joint->enableAngularMotor(false, 0, 0);
+	}	
+}
+
+void BasicDemo::updateAgents() {
+	int i;
+	
+	for(i = 0; i < m_agents.size(); i++) {
+		m_agents[i]->step();
+	}	
+}
+
+
+void BasicDemo::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) {
+		if(simpleSimulation) {
+			btHingeConstraint *hinge1 = (btHingeConstraint*)m_joints[0];
+			btHingeConstraint *hinge2 = (btHingeConstraint*)m_joints[1];
+					
+			if(enable1)
+				hinge1->enableAngularMotor(true, computeVelocity(hinge1->getHingeAngle(), btScalar(M_PI * 0.25)) * 10, btScalar(10));
+			else
+				hinge1->enableAngularMotor(false, 0, 0);
+			if(enable2)
+				hinge2->enableAngularMotor(true, computeVelocity(hinge2->getHingeAngle(), btScalar(-M_PI * 0.25)) * 10, btScalar(50));
+			else
+				hinge2->enableAngularMotor(false, 0, 0);
+		} else {
+			updateSensors();		
+			updateAgents();		
+			updateActuators();		
+		}
+		
+		m_dynamicsWorld->stepSimulation(ms / 1000000.f);
+		m_dynamicsWorld->debugDrawWorld();
+	}
+	
+	renderme(); 
+	glFlush();
+	glutSwapBuffers();
+}
+
+void BasicDemo::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 BasicDemo::debug() {	
+		
+}
+
+/**
+ * Initialize the objects used for a normal simulation in Bullet. 
+ * Create the virtual world for the agents.
+ * Set the ground of the simulated world
+*/
+void BasicDemo::initPhysics() {
+
+	m_ele = 75;
+	updateCamera();
+	
+	setTexturing(true);
+	setShadows(true);
+	setCameraDistance(btScalar(SCALING*20.));
+	
+	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());
+}
+
+btRigidBody* BasicDemo::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);
+	rbInfo.m_friction = 100.0;
+	btRigidBody* body = new btRigidBody(rbInfo);
+
+	m_dynamicsWorld->addRigidBody(body);
+
+	return body;
+}
+
+btRigidBody* BasicDemo::createObject(btCollisionShape* colShape, btVector3 position, btScalar mass) {	
+	m_collisionShapes.push_back(colShape);
+
+	btTransform startTransform;
+	startTransform.setIdentity();
+	startTransform.setOrigin(SCALING*position);
+
+	btRigidBody *body = localCreateRigidBody(mass, startTransform, colShape);
+	body->setActivationState(ISLAND_SLEEPING);
+		
+	return body;
+}
+
+btRigidBody* BasicDemo::createObject(btCollisionShape* colShape, btTransform transform, btScalar mass) {	
+	m_collisionShapes.push_back(colShape);
+
+	btRigidBody *body = localCreateRigidBody(mass, transform, colShape);
+	body->setActivationState(ISLAND_SLEEPING);
+		
+	return body;
+}
+
+void BasicDemo::createHinge(bool enable) {
+		
+	simpleSimulation = enable;
+	
+	btCollisionShape* colShape1 = new btBoxShape(SCALING*btVector3(2, 0.1, 1));
+	btCollisionShape* colShape2 = new btBoxShape(SCALING*btVector3(2, 0.1, 1));
+	
+	btRigidBody* part1 = createObject(colShape1, btVector3(0,6,0), 1.f);
+	btRigidBody* part2 = createObject(colShape2, btVector3(2,6,0), 0.f);
+	
+	btTransform localA, localB;
+	btHingeConstraint* hingeC;
+	btHingeConstraint* hingeD;
+	
+	localA.setIdentity(); 
+	localB.setIdentity();
+	
+	localA.setOrigin(SCALING*btVector3(2, 0, 0));	
+	localB.setOrigin(SCALING*btVector3(-2, 0, 0));
+	
+	hingeC = new btHingeConstraint(*part1, *part2, localA, localB);
+	hingeD = new btHingeConstraint(*part1, *part2, localA, localB);
+	//hingeC->setLimit(btScalar(-0.75 * M_PI_4), btScalar(M_PI_8));
+	//hingeC->setLimit(btScalar(-0.1), btScalar(0.1));
+	
+	m_joints.push_back(hingeC);
+	m_joints.push_back(hingeD);
+	
+	m_dynamicsWorld->addConstraint(hingeC, true);
+	m_dynamicsWorld->addConstraint(hingeD, true);
+	
+	clientResetScene();
+}
+
+enum {
+	LEFT=0, RIGHT=1, UP=2, DOWN=3
+};
+
+void BasicDemo::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;
+		
+	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 = createObject(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 = createObject(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 = createObject(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);
+			}
+		}
+	}	
+}
+
+
+void BasicDemo::createSwarm3D(int n, int m, int p) {
+/*
+	int i, j, k, base = m_dynamicsWorld->getNumCollisionObjects();
+	btCollisionShape *shape;
+	btRigidBody *body, *body1, *body2;
+	btVector3 pivotA, pivotB, axisA, axisB;
+	btHingeConstraint* hinge;
+	btPoint2PointConstraint* hingeP2P;
+	btTransform transform;
+	for(i = 0; i < n; i++) {
+		for(j = 0; j < m; j++) {
+			for(k = 0; k < p; k++) {
+				shape = new btSphereShape(SCALING*btScalar(0.18));
+				body = createObject(shape, btVector3(i*1.0,k*1.0 + HEIGHT,j*0.0), 0.f);
+			}
+		}
+	}	
+
+	for(i = 0; i < n; i++) {
+		for(j = 0; j < m; j++) {
+			for(k = 0; k < p; k++) {
+				if (i > 0) {
+					transform.setIdentity();
+					transform.setOrigin(SCALING*btVector3(i*1.0-0.5,k*1.0+HEIGHT,j*1.0));
+					transform.setRotation(btQuaternion(btVector3(0,0,1), -M_PI/2));
+
+					shape = new btCapsuleShape(SCALING*btScalar(0.05),SCALING*btScalar(0.6));
+					body = createObject(shape, transform, 1.f);
+					
+					body1 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + (i - 1) * m * p + j * p + k]);
+					body2 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + i * m * p + j * p + k]);
+					
+					pivotA = SCALING*btVector3(0, -0.6, 0);
+					pivotB = SCALING*btVector3(0, 0, 0);
+					axisA = btVector3(0, 0, 1);
+					axisB = btVector3(0, 0, 1);
+					hinge = new btHingeConstraint(*body, *body1, pivotA, pivotB, axisA, axisB);
+					hinge->setLimit(btScalar(- 0.75 * M_PI), btScalar(0.75 * M_PI));
+					m_joints.push_back(hinge);
+					m_dynamicsWorld->addConstraint(hinge, true);
+
+					pivotA = SCALING*btVector3(0, 0.6, 0);
+					pivotB = SCALING*btVector3(0, 0, 0);
+					axisA = btVector3(0, 0, 1);
+					axisB = btVector3(0, 0, 1);
+					hinge = new btHingeConstraint(*body, *body2, pivotA, pivotB, axisA, axisB);
+					hinge->setLimit(btScalar(- 0.75 * M_PI), btScalar(0.75 * M_PI));
+					m_joints.push_back(hinge);
+					m_dynamicsWorld->addConstraint(hinge, true);
+				}
+				if (j > 0) {
+					btTransform transform;
+					transform.setIdentity();
+					transform.setOrigin(SCALING*btVector3(i*1.0,k*1.0+HEIGHT,j*1.0-0.5));
+					transform.setRotation(btQuaternion(btVector3(1,0,0), M_PI/2));
+					
+					shape = new btCapsuleShape(SCALING*btScalar(0.05),SCALING*btScalar(0.6));
+					body = createObject(shape, transform, 1.f);
+
+					body1 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + i * m * p + (j - 1) * p+ k]);
+					body2 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + i * m * p + j * p + k]);
+
+					pivotA = SCALING*btVector3(0, -0.6, 0);
+					pivotB = SCALING*btVector3(0, 0, 0);
+					axisA = btVector3(1, 0, 0);
+					axisB = btVector3(1, 0, 0);
+					hinge = new btHingeConstraint(*body, *body1, pivotA, pivotB, axisA, axisB);
+					hinge->setLimit(btScalar(- 0.75 * M_PI), btScalar(0.75 * M_PI));
+					m_joints.push_back(hinge);
+					m_dynamicsWorld->addConstraint(hinge, true);
+
+					pivotA = SCALING*btVector3(0, 0.6, 0);
+					pivotB = SCALING*btVector3(0, 0, 0);
+					axisA = btVector3(1, 0, 0);
+					axisB = btVector3(1, 0, 0);
+					hinge = new btHingeConstraint(*body, *body2, pivotA, pivotB, axisA, axisB);
+					hinge->setLimit(btScalar(- 0.75 * M_PI), btScalar(0.75 * M_PI));
+					m_joints.push_back(hinge);
+					m_dynamicsWorld->addConstraint(hinge, true);
+				}
+				if(k > 0) {
+					btTransform transform;
+					transform.setIdentity();
+					transform.setOrigin(SCALING*btVector3(i*1.0,k*1.0+HEIGHT-0.5,j*1.0));
+					
+					shape = new btCapsuleShape(SCALING*btScalar(0.05),SCALING*btScalar(0.6));
+					body = createObject(shape, transform, 1.f);
+
+					body1 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + i * m * p + j * p + (k - 1)]);
+					body2 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + i * m * p + j * p + k]);
+
+					pivotA = SCALING*btVector3(0, -0.6, 0);
+					pivotB = SCALING*btVector3(0, 0, 0);
+//					axisA = btVector3(1, 0, 0);
+//					axisB = btVector3(1, 0, 0);
+//					hinge = new btHingeConstraint(*body, *body1, pivotA, pivotB, axisA, axisB);
+					hingeP2P = new btPoint2PointConstraint(*body, *body1, pivotA, pivotB);
+//					hinge->setLimit(btScalar(- 0.75 * M_PI), btScalar(0.75 * M_PI));
+					m_joints.push_back(hingeP2P);
+					m_dynamicsWorld->addConstraint(hingeP2P, true);
+
+					pivotA = SCALING*btVector3(0, 0.6, 0);
+					pivotB = SCALING*btVector3(0, 0, 0);
+//					axisA = btVector3(1, 0, 0);
+//					axisB = btVector3(1, 0, 0);
+//					hinge = new btHingeConstraint(*body, *body2, pivotA, pivotB, axisA, axisB);
+					hingeP2P = new btPoint2PointConstraint(*body, *body2, pivotA, pivotB);
+//					hinge->setLimit(btScalar(- 0.75 * M_PI), btScalar(0.75 * M_PI));
+					m_joints.push_back(hingeP2P);
+					m_dynamicsWorld->addConstraint(hingeP2P, true);					
+				}
+			}
+		}
+	}
+*/
+}
+
+
+void BasicDemo::createSimulation2D(int n, int m) {
+	//btCollisionShape* colShape = new btSphereShape(SCALING*btScalar(1.5));
+	//btRigidBody *ball = createObject(colShape, btVector3(4,0,3), 8);	
+	//ball->activate();
+	
+	createMagicCarpet(n, m);
+}
+
+void BasicDemo::createSimulation3D(int n, int m, int p) {
+	createSwarm3D(n,m,p);
+}
+
+void BasicDemo::keyboardCallback(unsigned char key, int x, int y) {	
+	if(key == '1') {
+		enable1 = !enable1;
+		return;
+	} 
+	
+	if(key == '2') {
+		enable2 = !enable2;
+		return;
+	} 
+	
+	if(key == 'b') {
+		btCollisionShape* colShape0 = new btSphereShape(SCALING*btScalar(0.5));
+		btRigidBody* box = createObject(colShape0, btVector3(-2., 10, 0.5), 4.f);
+					
+		box->activate();
+		
+		return;
+	}
+
+	if (key == 'c') {
+		debugConstraints = !debugConstraints;
+		this->setDebugMode(debugConstraints ? btIDebugDraw::DBG_DrawConstraints | btIDebugDraw::DBG_DrawConstraintLimits : 0);
+	}
+
+	DemoApplication::keyboardCallback(key, x, y);
+}
+
+
+void BasicDemo::exitPhysics() {
+	//cleanup in the reverse order of creation/initialization
+	//remove the rigidbodies from the dynamics world and delete them
+	int i;
+	
+	for (i = 0; i < m_joints.size(); i++) {
+		btTypedConstraint *joint = m_joints[i];
+		delete joint;
+	}
+	
+	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 (i = 0; i < m_collisionShapes.size(); i++) {
+		btCollisionShape* shape = m_collisionShapes[i];
+		delete shape;
+	}
+
+	delete m_dynamicsWorld;
+	
+	delete m_solver;
+	
+	delete m_broadphase;
+	
+	delete m_dispatcher;
+
+	delete m_collisionConfiguration;	
+}
Index: proiecte/SIMEO/SimeoDemo/BasicDemo.h
===================================================================
--- proiecte/SIMEO/SimeoDemo/BasicDemo.h	(revision 168)
+++ proiecte/SIMEO/SimeoDemo/BasicDemo.h	(revision 168)
@@ -0,0 +1,100 @@
+/*
+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 BASIC_DEMO_H
+#define BASIC_DEMO_H
+
+#include "GlutDemoApplication.h"
+#include <LinearMath/btAlignedObjectArray.h>
+#include "Agent.h"
+#include "Sensor.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 BasicDemo : 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:
+	btAlignedObjectArray<btTypedConstraint*>	m_joints;
+	btAlignedObjectArray<Agent*>	m_agents;
+	btAlignedObjectArray<pair<int, Sensor*> > m_sensors;
+	btAlignedObjectArray<btAlignedObjectArray<int> > m_matrix;
+	
+	BasicDemo()
+	{
+	}
+	virtual ~BasicDemo()
+	{
+		exitPhysics();
+	}
+	
+	void	initPhysics();
+	
+	btScalar computeVelocity(btScalar currentAngle, btScalar targetAngle);
+	btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape);
+	btRigidBody* createObject(btCollisionShape* colShape, btVector3 position, btScalar mass);
+	btRigidBody* createObject(btCollisionShape* colShape, btTransform transform, btScalar mass);	
+	
+	void createHinge(bool enable);
+	void createMagicCarpet(int n, int m);
+	void createSwarm3D(int n, int m, int p);
+	void createSimulation2D(int n, int m);
+	void createSimulation3D(int n, int m, int p);
+
+	void updateSensors();
+	void updateActuators();
+	void updateAgents();
+	
+	void	exitPhysics();
+
+	void	debug();
+	
+	virtual void keyboardCallback(unsigned char key, int x, int y);
+	
+	virtual void clientMoveAndDisplay();
+
+	virtual void displayCallback();
+	
+	static DemoApplication* Create()
+	{
+		BasicDemo* demo = new BasicDemo;
+		demo->myinit();
+		demo->initPhysics();
+		return demo;
+	}
+};
+
+#endif //BASIC_DEMO_H
+
Index: proiecte/SIMEO/SimeoDemo/CMakeLists.txt
===================================================================
--- proiecte/SIMEO/SimeoDemo/CMakeLists.txt	(revision 168)
+++ proiecte/SIMEO/SimeoDemo/CMakeLists.txt	(revision 168)
@@ -0,0 +1,81 @@
+cmake_minimum_required(VERSION 2.6)
+
+SET(BULLET_LIB_PATH /work/simeo/bullet-dev)
+
+INCLUDE_DIRECTORIES(
+${BULLET_LIB_PATH}/include
+)
+
+LINK_DIRECTORIES(
+${BULLET_LIB_PATH}/lib
+)
+
+LINK_LIBRARIES(
+BulletDynamics  BulletCollision LinearMath glut gcj
+)
+
+SET(CMAKE_CXX_FLAGS "-Wall -g")
+
+ADD_CUSTOM_COMMAND(
+OUTPUT Sensor.class
+COMMAND javac
+ARGS Sensor.java
+)
+
+ADD_CUSTOM_COMMAND(
+OUTPUT Agent.class
+COMMAND javac
+ARGS Agent.java
+)
+
+ADD_CUSTOM_COMMAND(
+OUTPUT Sensor.h
+DEPENDS Sensor.class
+COMMAND gcjh
+ARGS -cp . Sensor
+)
+
+ADD_CUSTOM_COMMAND(
+OUTPUT Agent.h
+DEPENDS Agent.class
+COMMAND gcjh
+ARGS -cp . Agent
+)
+
+ADD_CUSTOM_COMMAND(
+OUTPUT Sensor.o
+DEPENDS Sensor.java
+COMMAND gcj
+ARGS -g -c Sensor.java
+)
+
+ADD_CUSTOM_COMMAND(
+OUTPUT Agent.o
+DEPENDS Agent.java
+COMMAND gcj
+ARGS -g -c Agent.java
+)
+
+ADD_CUSTOM_COMMAND(
+OUTPUT Agent2.o
+DEPENDS Agent.o
+COMMAND objcopy
+ARGS Agent.o Agent2.o --redefine-syms gcj-fix.lst
+)
+
+ADD_EXECUTABLE(AppBasicDemo
+	main.cpp
+	BasicDemo.cpp 
+
+	Sensor.o
+	Agent2.o
+	Agent.h Sensor.h
+
+	DemoApplication.cpp
+	GlutDemoApplication.cpp
+	GlutStuff.cpp
+	GLDebugFont.cpp
+	GL_ShapeDrawer.cpp
+	GLDebugDrawer.cpp
+)
+
Index: proiecte/SIMEO/SimeoDemo/DemoApplication.cpp
===================================================================
--- proiecte/SIMEO/SimeoDemo/DemoApplication.cpp	(revision 168)
+++ proiecte/SIMEO/SimeoDemo/DemoApplication.cpp	(revision 168)
@@ -0,0 +1,1404 @@
+/*
+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)
+{
+#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;
+}
+
+
+
+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::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 (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	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::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 DemoApplication::renderme()
+{
+	myinit();
+
+	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	DemoApplication::clientResetScene()
+{
+#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();
+
+	}
+
+}
Index: proiecte/SIMEO/SimeoDemo/DemoApplication.h
===================================================================
--- proiecte/SIMEO/SimeoDemo/DemoApplication.h	(revision 168)
+++ proiecte/SIMEO/SimeoDemo/DemoApplication.h	(revision 168)
@@ -0,0 +1,245 @@
+/*
+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 "LinearMath/btVector3.h"
+#include "LinearMath/btMatrix3x3.h"
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btQuickprof.h"
+#include "LinearMath/btAlignedObjectArray.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;
+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:
+		
+	DemoApplication();
+	
+	virtual ~DemoApplication();
+
+	btDynamicsWorld*		getDynamicsWorld()
+	{
+		return m_dynamicsWorld;
+	}
+
+	virtual	void initPhysics() = 0;
+
+	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() = 0;
+
+	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() = 0;
+
+	virtual		void	updateModifierKeys() = 0;
+
+	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/SimeoDemo/GLDebugDrawer.cpp
===================================================================
--- proiecte/SIMEO/SimeoDemo/GLDebugDrawer.cpp	(revision 168)
+++ proiecte/SIMEO/SimeoDemo/GLDebugDrawer.cpp	(revision 168)
@@ -0,0 +1,147 @@
+
+#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(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/SimeoDemo/GLDebugDrawer.h
===================================================================
--- proiecte/SIMEO/SimeoDemo/GLDebugDrawer.h	(revision 168)
+++ proiecte/SIMEO/SimeoDemo/GLDebugDrawer.h	(revision 168)
@@ -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/SimeoDemo/GLDebugFont.cpp
===================================================================
--- proiecte/SIMEO/SimeoDemo/GLDebugFont.cpp	(revision 168)
+++ proiecte/SIMEO/SimeoDemo/GLDebugFont.cpp	(revision 168)
@@ -0,0 +1,902 @@
+/*
+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==-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]);
+	}
+
+	int windowWidth=screenWidth;
+	int windowHeight = screenHeight;
+	printf("generating font at resolution %d,%d\n",screenWidth,screenHeight);
+
+}
+
+void	GLDebugDrawString(int x,int y,const char* string)
+{
+
+	const char* string2 = "test";
+	if (sTexture==-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,
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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/SimeoDemo/GLDebugFont.h
===================================================================
--- proiecte/SIMEO/SimeoDemo/GLDebugFont.h	(revision 168)
+++ proiecte/SIMEO/SimeoDemo/GLDebugFont.h	(revision 168)
@@ -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/SimeoDemo/GL_ShapeDrawer.cpp
===================================================================
--- proiecte/SIMEO/SimeoDemo/GL_ShapeDrawer.cpp	(revision 168)
+++ proiecte/SIMEO/SimeoDemo/GL_ShapeDrawer.cpp	(revision 168)
@@ -0,0 +1,999 @@
+/*
+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
+	{
+		bool useWireframeFallback = true;
+		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/SimeoDemo/GL_ShapeDrawer.h
===================================================================
--- proiecte/SIMEO/SimeoDemo/GL_ShapeDrawer.h	(revision 168)
+++ proiecte/SIMEO/SimeoDemo/GL_ShapeDrawer.h	(revision 168)
@@ -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/SimeoDemo/GlutDemoApplication.cpp
===================================================================
--- proiecte/SIMEO/SimeoDemo/GlutDemoApplication.cpp	(revision 168)
+++ proiecte/SIMEO/SimeoDemo/GlutDemoApplication.cpp	(revision 168)
@@ -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/SimeoDemo/GlutDemoApplication.h
===================================================================
--- proiecte/SIMEO/SimeoDemo/GlutDemoApplication.h	(revision 168)
+++ proiecte/SIMEO/SimeoDemo/GlutDemoApplication.h	(revision 168)
@@ -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 "DemoApplication.h"
+
+class GlutDemoApplication : public DemoApplication
+{
+public:
+	
+	void specialKeyboard(int key, int x, int y);
+
+	virtual void swapBuffers();
+
+	virtual	void	updateModifierKeys();
+
+};
+#endif //GLUT_DEMO_APPLICATION_H
+
Index: proiecte/SIMEO/SimeoDemo/GlutStuff.cpp
===================================================================
--- proiecte/SIMEO/SimeoDemo/GlutStuff.cpp	(revision 168)
+++ proiecte/SIMEO/SimeoDemo/GlutStuff.cpp	(revision 168)
@@ -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/SimeoDemo/GlutStuff.h
===================================================================
--- proiecte/SIMEO/SimeoDemo/GlutStuff.h	(revision 168)
+++ proiecte/SIMEO/SimeoDemo/GlutStuff.h	(revision 168)
@@ -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/SimeoDemo/Makefile
===================================================================
--- proiecte/SIMEO/SimeoDemo/Makefile	(revision 168)
+++ proiecte/SIMEO/SimeoDemo/Makefile	(revision 168)
@@ -0,0 +1,349 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.6
+
+# Default target executed when no arguments are given to make.
+default_target: all
+.PHONY : default_target
+
+#=============================================================================
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+
+# Disable implicit rules so canoncical targets will work.
+.SUFFIXES:
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+
+.SUFFIXES: .hpux_make_needs_suffix_list
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+.PHONY : cmake_force
+
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+
+# The CMake executable.
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+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /work/simeo/SimeoDemo
+
+# The top-level build directory on which CMake was run.
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+
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+.PHONY : edit_cache/fast
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+	$(MAKE) -f CMakeFiles/AppBasicDemo.dir/build.make CMakeFiles/AppBasicDemo.dir/GlutDemoApplication.cpp.s
+.PHONY : GlutDemoApplication.cpp.s
+
+GlutStuff.o: GlutStuff.cpp.o
+.PHONY : GlutStuff.o
+
+# target to build an object file
+GlutStuff.cpp.o:
+	$(MAKE) -f CMakeFiles/AppBasicDemo.dir/build.make CMakeFiles/AppBasicDemo.dir/GlutStuff.cpp.o
+.PHONY : GlutStuff.cpp.o
+
+GlutStuff.i: GlutStuff.cpp.i
+.PHONY : GlutStuff.i
+
+# target to preprocess a source file
+GlutStuff.cpp.i:
+	$(MAKE) -f CMakeFiles/AppBasicDemo.dir/build.make CMakeFiles/AppBasicDemo.dir/GlutStuff.cpp.i
+.PHONY : GlutStuff.cpp.i
+
+GlutStuff.s: GlutStuff.cpp.s
+.PHONY : GlutStuff.s
+
+# target to generate assembly for a file
+GlutStuff.cpp.s:
+	$(MAKE) -f CMakeFiles/AppBasicDemo.dir/build.make CMakeFiles/AppBasicDemo.dir/GlutStuff.cpp.s
+.PHONY : GlutStuff.cpp.s
+
+main.o: main.cpp.o
+.PHONY : main.o
+
+# target to build an object file
+main.cpp.o:
+	$(MAKE) -f CMakeFiles/AppBasicDemo.dir/build.make CMakeFiles/AppBasicDemo.dir/main.cpp.o
+.PHONY : main.cpp.o
+
+main.i: main.cpp.i
+.PHONY : main.i
+
+# target to preprocess a source file
+main.cpp.i:
+	$(MAKE) -f CMakeFiles/AppBasicDemo.dir/build.make CMakeFiles/AppBasicDemo.dir/main.cpp.i
+.PHONY : main.cpp.i
+
+main.s: main.cpp.s
+.PHONY : main.s
+
+# target to generate assembly for a file
+main.cpp.s:
+	$(MAKE) -f CMakeFiles/AppBasicDemo.dir/build.make CMakeFiles/AppBasicDemo.dir/main.cpp.s
+.PHONY : main.cpp.s
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... AppBasicDemo"
+	@echo "... edit_cache"
+	@echo "... rebuild_cache"
+	@echo "... BasicDemo.o"
+	@echo "... BasicDemo.i"
+	@echo "... BasicDemo.s"
+	@echo "... DemoApplication.o"
+	@echo "... DemoApplication.i"
+	@echo "... DemoApplication.s"
+	@echo "... GLDebugDrawer.o"
+	@echo "... GLDebugDrawer.i"
+	@echo "... GLDebugDrawer.s"
+	@echo "... GLDebugFont.o"
+	@echo "... GLDebugFont.i"
+	@echo "... GLDebugFont.s"
+	@echo "... GL_ShapeDrawer.o"
+	@echo "... GL_ShapeDrawer.i"
+	@echo "... GL_ShapeDrawer.s"
+	@echo "... GlutDemoApplication.o"
+	@echo "... GlutDemoApplication.i"
+	@echo "... GlutDemoApplication.s"
+	@echo "... GlutStuff.o"
+	@echo "... GlutStuff.i"
+	@echo "... GlutStuff.s"
+	@echo "... main.o"
+	@echo "... main.i"
+	@echo "... main.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
Index: proiecte/SIMEO/SimeoDemo/Sensor.java
===================================================================
--- proiecte/SIMEO/SimeoDemo/Sensor.java	(revision 168)
+++ proiecte/SIMEO/SimeoDemo/Sensor.java	(revision 168)
@@ -0,0 +1,46 @@
+public class Sensor {
+	
+	private float angle, targetAngle, minAngle, maxAngle, force;
+	private boolean changed;
+	private int type;
+
+	public Sensor(float angle, float minAngle, float maxAngle, int type) {
+		this.angle = this.targetAngle = angle;
+		this.force = 0;
+		this.minAngle = minAngle;
+		this.maxAngle = maxAngle;
+		this.type = type;
+	}
+
+	public int getType() {
+		return this.type;
+	}
+	public float getAngle() {
+		return this.angle;
+	}
+	public float getTargetAngle() {
+		return this.targetAngle;
+	}
+	public float getMinAngle() {
+		return this.minAngle;
+	}
+	public float getMaxAngle() {
+		return this.maxAngle;
+	}
+	public float getForce() {
+		return this.force;
+	}
+	public void setAngle(float angle) {
+		this.angle = angle;
+	}
+	public void setTargetAngle(float targetAngle, float force) {
+		this.targetAngle = targetAngle;
+		this.force = force;
+	}
+	public boolean getChanged() {
+		return changed;
+	}
+	public void setChanged(boolean changed) {
+		this.changed = changed;
+	}
+}
Index: proiecte/SIMEO/SimeoDemo/gcj-fix.lst
===================================================================
--- proiecte/SIMEO/SimeoDemo/gcj-fix.lst	(revision 168)
+++ proiecte/SIMEO/SimeoDemo/gcj-fix.lst	(revision 168)
@@ -0,0 +1,1 @@
+_ZGr8_$_dummy _2_dummy
Index: proiecte/SIMEO/SimeoDemo/main.cpp
===================================================================
--- proiecte/SIMEO/SimeoDemo/main.cpp	(revision 168)
+++ proiecte/SIMEO/SimeoDemo/main.cpp	(revision 168)
@@ -0,0 +1,201 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 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 "BasicDemo.h"
+#include "GLDebugDrawer.h"
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btHashMap.h"
+#include <mpi.h>
+#include <stdio.h>
+#include <gcj/cni.h>
+#include <signal.h>
+#include <java/lang/System.h>
+#include <java/io/PrintStream.h>
+#include <java/util/List.h>
+#include <java/util/ArrayList.h>
+#include <java/lang/System.h>
+#include <java/io/PrintStream.h>
+#include <java/lang/Throwable.h>
+#include "Agent.h"
+#include "Sensor.h"
+
+#define WIDTH		10
+#define HEIGHT		3
+#define MAXPROCS		(WIDTH * HEIGHT)
+
+BasicDemo vworld;
+GLDebugDrawer gDebugDrawer;
+btDynamicsWorld* m_dynamicWorld;
+
+using namespace java::lang;
+using namespace java::util;
+
+enum {
+	LEFT=0, RIGHT=1, UP=2, DOWN=3
+};
+
+int rank, nprocs = MAXPROCS;
+MPI_Comm everyone;
+
+void init() {
+	if(JvCreateJavaVM(NULL) < 0) {
+		printf("Error creating the JVM!!!\n");
+		exit(1);
+	}
+	
+	JvAttachCurrentThread(NULL, NULL);
+	
+	JvInitClass(&Agent::class$);
+}
+
+/*
+int getRight(int i, int j) {	
+	return (4 * HEIGHT - 2) * i + 4 * j + 0;
+}
+
+int getLeft(int i, int j) {
+	return getRight(i-1, j) + 1;
+}
+
+int getDown(int i, int j) {
+	int down = (4 * HEIGHT - 2) * i + 4 * j + 2;
+	if(i == WIDTH - 1)
+		down -= 2 + j * 2;
+		
+	return down;
+}
+
+int getUp(int i, int j) {
+	int up = getDown(i, j-1) + 1;				
+	return up;
+}
+*/
+
+static void master() {
+	int i, j;
+	printf("Master process here!\n");
+	
+	/// Initialize the scene of the simulation
+	vworld.initPhysics();
+	vworld.createSimulation2D(WIDTH, HEIGHT);
+//	vworld.createSimulation3D(3, 3, 3);
+	vworld.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
+		
+	m_dynamicWorld = vworld.getDynamicsWorld();
+	
+	init();
+	
+	for(i = 0; i < WIDTH; i++) {
+		for(j = 0; j < HEIGHT; j++) {	
+			List *sensors = (List *) new ArrayList();
+//			int right = getRight(i, j);
+//			int left = getLeft(i, j); 
+//			int up = getUp(i, j);
+//			int down = getDown(i, j);
+ 			int idx;
+			
+			if(i < WIDTH - 1) {
+				idx = vworld.m_matrix[i * HEIGHT + j][RIGHT];
+//				printf("RIGHT: (%d, %d) - %d\n", i, j, idx);
+				btHingeConstraint *joint = (btHingeConstraint*)vworld.m_joints[idx];
+				Sensor *s = new Sensor(joint->getHingeAngle(),joint->getLowerLimit(),joint->getUpperLimit(), RIGHT);
+				sensors->add(s);
+				vworld.m_sensors.push_back(make_pair(idx, s));
+			}
+
+			if(i > 0) {
+				idx = vworld.m_matrix[i * HEIGHT + j][LEFT];
+//				printf("LEFT: (%d, %d) - %d\n", i, j, idx);
+				btHingeConstraint *joint = (btHingeConstraint*)vworld.m_joints[idx];
+				Sensor *s = new Sensor(joint->getHingeAngle(),joint->getLowerLimit(),joint->getUpperLimit(), LEFT);
+				sensors->add(s);
+				vworld.m_sensors.push_back(make_pair(idx, s));
+			}
+
+			if(j < HEIGHT - 1) {
+				idx = vworld.m_matrix[i * HEIGHT + j][DOWN];
+//				printf("DOWN: (%d, %d) - %d\n", i, j, idx);
+				btHingeConstraint *joint = (btHingeConstraint*)vworld.m_joints[idx];
+				Sensor *s = new Sensor(joint->getHingeAngle(),joint->getLowerLimit(),joint->getUpperLimit(), DOWN);
+				sensors->add(s);
+				vworld.m_sensors.push_back(make_pair(idx, s));
+			}
+			
+			if(j > 0) {
+				idx = vworld.m_matrix[i * HEIGHT + j][UP];
+// 				printf("UP: (%d, %d) - %d\n", i, j, idx);
+				btHingeConstraint *joint = (btHingeConstraint*)vworld.m_joints[idx];
+				Sensor *s = new Sensor(joint->getHingeAngle(),joint->getLowerLimit(),joint->getUpperLimit(), UP);
+				sensors->add(s);
+				vworld.m_sensors.push_back(make_pair(idx, s));
+			}
+
+			Agent *agent = new Agent(sensors, i, j);
+			vworld.m_agents.push_back(agent);
+		}
+	}
+}
+
+
+static void slave() {
+	
+	MPI_Comm_rank(MPI_COMM_WORLD, &rank);	
+	printf("Process slave number %d executing...\n", rank);
+
+	while(1) {
+		sleep(1000);
+	}
+}
+
+
+int main(int argc,char** argv) {
+	 
+	MPI_Init(&argc, &argv);
+	
+	MPI_Comm_size(MPI_COMM_WORLD, &nprocs);
+	MPI_Comm_rank(MPI_COMM_WORLD, &rank);
+		
+	printf("%d\n", rank);
+	
+	if(nprocs != MAXPROCS + 1) {
+//		return 0;
+	}
+	
+	if(rank == 0) {		
+		master();		
+	} else {
+		slave();
+	}
+	
+	if(rank == 0) {
+	#ifdef CHECK_MEMORY_LEAKS
+		vworld.exitPhysics();
+	#else
+		int ret;
+		try {
+			ret = glutmain(argc, argv, 640, 480, "SIMEO", &vworld);
+		} catch (Throwable *t)
+		{
+			System::err->println(JvNewStringLatin1("Unhandled Java exception:"));
+			t->printStackTrace();
+		}
+		MPI_Finalize();
+		return ret;
+	#endif
+	}
+
+	//default glut doesn't return from mainloop
+	return 0;
+}
