void BasicDemo::clientMoveAndDisplay()
{
    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);


    float fTimeStep = 1.0/100.0;
    btTransform startTransform;
    startTransform.setIdentity();
    for (int i = 0; i<2; i++){

        btVector3 w = vVelocity[i]/fRadius;
        btVector3 axis = w.cross(btVector3(0.0,-1.0,0.0));
        btQuaternion qW(axis.x(), axis.y(), axis.z(),0.0);

        qW *= qOrientation[i];

        btQuaternion plus = qOrientation[i] + qW*(fTimeStep/2.0);
        plus = plus.normalize();

        qOrientation[i]=plus;
        vPosition[i] += vVelocity[i]*fTimeStep;

        //input data
        startTransform.setOrigin(vPosition[i]);
        startTransform.setRotation(qOrientation[i]);
        m_rigidBody[i]->getMotionState()->setWorldTransform(startTransform);
    }

    btVector3 btween(vPosition[0].x() - vPosition[1].x(), vPosition[0].y() - vPosition[1].y(), vPosition[0].z() - vPosition[1].z());
    float mag = btween.length();
    btVector3 n;

    btVector3 r1 = vPosition[0]+(btween.normalize()*fRadius); //vector of direction from center of cue ball to collision
    btVector3 r2 = vPosition[1]+((btween.normalize()*-1)*fRadius); //vector of pool ball

    if ( mag < fRadius+fRadius ) {
        collision = true;
        n = btween.normalize();

    }

    if ( collision ){
        printf("%f, %f, %f\n", n.x(), n.y(), n.z());
        collision = false;
    }


    // OpenGL calls
    m_dynamicsWorld->debugDrawWorld();
    renderme();
    glFlush();
    glutSwapBuffers();

}