50 files changed, 0 insertions, 13125 deletions
diff --git a/doc/sims/collision/AABB.html b/doc/sims/collision/AABB.html
deleted file mode 100644
index 9666bff..0000000
--- a/doc/sims/collision/AABB.html
+++ /dev/null
@@ -1,242 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.collision.AABB</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">collision</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>AABB</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">AABB</span><span class="params">(<span name="minVertex">minVertex: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="maxVertex">maxVertex: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result"> extends <span class="extype" name="scala.Product">Product</span></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>Axis Aligned Bounding Boxes (AABBs) are rectangles that frame a shape.
-Their X-Axis and Y-Axis orientation makes it easy to test two AABBs for overlap.</p></div>
-      <dl class="paramcmts block"><dt class="param">minVertex</dt><dd class="cmt"><p>Position vector of the bottom-left vertex</p></dd><dt class="param">maxVertex</dt><dd class="cmt"><p>Position vector of the upper-right vertex</p></dd></dl>
-      
-      
-      <div class="block">
-                known subclasses: <a href="../../graphyx/graphics/GraphicalAABB.html">GraphicalAABB</a>
-              </div>
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.Product">Product</li><li class="in" name="scala.Equals">Equals</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.collision.AABB#canEqual">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">canEqual</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.AABB#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.AABB#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.AABB#maxVertex">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">maxVertex</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.AABB#minVertex">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">minVertex</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.AABB#overlaps">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">overlaps</span><span class="params">(<span name="box">box: <a href="" class="extype" name="sims.collision.AABB">AABB</a></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Checks this AABB with <code>box</code> for overlap</p><div class="fullcomment">
-      <div class="comment cmt"><p>Checks this AABB with <code>box</code> for overlap.</p></div>
-      <dl class="paramcmts block"><dt class="param">box</dt><dd class="cmt"><p>AABB with which to check for overlap</p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.AABB#productArity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productArity</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.AABB#productElement">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElement</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Int">Int</span></span>)</span><span class="result">: <span class="extype" name="scala.Any">Any</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productElements">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElements</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productIterator">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productIterator</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.AABB#productPrefix">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productPrefix</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.AABB#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.collision.AABB#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">AABB</span><span class="params">(<span name="minVertex">minVertex: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="maxVertex">maxVertex: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">AABB</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/collision/CircleCollision.html b/doc/sims/collision/CircleCollision.html
deleted file mode 100644
index 80e6b4d..0000000
--- a/doc/sims/collision/CircleCollision.html
+++ /dev/null
@@ -1,321 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.collision.CircleCollision</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">collision</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>CircleCollision</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">CircleCollision</span><span class="params">(<span name="c1">c1: <a href="../dynamics/Circle.html" class="extype" name="sims.dynamics.Circle">Circle</a></span>, <span name="c2">c2: <a href="../dynamics/Circle.html" class="extype" name="sims.dynamics.Circle">Circle</a></span>)</span><span class="result"> extends <a href="Collision.html" class="extype" name="sims.collision.Collision">Collision</a> with <span class="extype" name="scala.Product">Product</span></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>Collision between two circles.</p></div>
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.Product">Product</li><li class="in" name="scala.Equals">Equals</li><li class="in" name="sims.collision.Collision">Collision</li><li class="in" name="sims.dynamics.Constraint">Constraint</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.collision.CircleCollision#c1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">c1</span><span class="result">: <a href="../dynamics/Circle.html" class="extype" name="sims.dynamics.Circle">Circle</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.CircleCollision#c2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">c2</span><span class="result">: <a href="../dynamics/Circle.html" class="extype" name="sims.dynamics.Circle">Circle</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.CircleCollision#canEqual">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">canEqual</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Collision#correctFriction">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctFriction</span><span class="params">(<span name="point">point: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="normalForce">normalForce: <span class="extype" name="scala.Double">Double</span></span>, <span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Collision#correctPosition">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctPosition</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Corrects the positions of bodies according to this constraint</p><div class="fullcomment">
-      <div class="comment cmt"><p>Corrects the positions of bodies according to this constraint.</p></div>
-      <dl class="paramcmts block"><dt class="param">h</dt><dd class="cmt"><p>a time interval, used for converting forces and impulses</p></dd></dl>
-      
-      <div class="block">
-            definition classes: <a href="Collision.html">Collision</a> ⇐ <a href="../dynamics/Constraint.html">Constraint</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.collision.Collision#correctVelocity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctVelocity</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Corrects the velocities of bodies according to this constraint</p><div class="fullcomment">
-      <div class="comment cmt"><p>Corrects the velocities of bodies according to this constraint.</p></div>
-      <dl class="paramcmts block"><dt class="param">h</dt><dd class="cmt"><p>a time interval, used for converting forces and impulses</p></dd></dl>
-      
-      <div class="block">
-            definition classes: <a href="Collision.html">Collision</a> ⇐ <a href="../dynamics/Constraint.html">Constraint</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.collision.CircleCollision#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.CircleCollision#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.CircleCollision#normal">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">normal</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Normal vector to the collision face</p><div class="fullcomment">
-      <div class="comment cmt"><p>Normal vector to the collision face.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.CircleCollision#points">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">points</span><span class="result">: <span class="extype" name="scala.collection.immutable.List">List</span>[<a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Collision points</p><div class="fullcomment">
-      <div class="comment cmt"><p>Collision points.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.CircleCollision#productArity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productArity</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.CircleCollision#productElement">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElement</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Int">Int</span></span>)</span><span class="result">: <span class="extype" name="scala.Any">Any</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productElements">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElements</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productIterator">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productIterator</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.CircleCollision#productPrefix">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productPrefix</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.CircleCollision#shape1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">shape1</span><span class="result">: <a href="../dynamics/Circle.html" class="extype" name="sims.dynamics.Circle">Circle</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">First colliding shape (reference shape)</p><div class="fullcomment">
-      <div class="comment cmt"><p>First colliding shape (reference shape).</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.CircleCollision#shape2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">shape2</span><span class="result">: <a href="../dynamics/Circle.html" class="extype" name="sims.dynamics.Circle">Circle</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Second colliding shape (incident shape)</p><div class="fullcomment">
-      <div class="comment cmt"><p>Second colliding shape (incident shape).</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.CircleCollision#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.collision.CircleCollision#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">CircleCollision</span><span class="params">(<span name="c1">c1: <a href="../dynamics/Circle.html" class="extype" name="sims.dynamics.Circle">Circle</a></span>, <span name="c2">c2: <a href="../dynamics/Circle.html" class="extype" name="sims.dynamics.Circle">Circle</a></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Collision#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">CircleCollision</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/collision/Collision$.html b/doc/sims/collision/Collision$.html
deleted file mode 100644
index a7c64d8..0000000
--- a/doc/sims/collision/Collision$.html
+++ /dev/null
@@ -1,162 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.collision.Collision</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="value">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">collision</a></p>
-
-      <div id="definition">
-        <img src="../../lib/object_big.png" />
-        <h1>Collision</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">object</span>
-      <span class="symbol">
-        <span class="name">Collision</span><span class="result"> extends AnyRef</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.collision.Collision#ToleratedOverlap">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">ToleratedOverlap</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Tolerated overlap</p><div class="fullcomment">
-      <div class="comment cmt"><p>Tolerated overlap. Collision response will only be applied if the overlap of two shapes exceeds the tolerated overlap.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/collision/Collision.html b/doc/sims/collision/Collision.html
deleted file mode 100644
index c74223c..0000000
--- a/doc/sims/collision/Collision.html
+++ /dev/null
@@ -1,263 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.collision.Collision</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">collision</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>Collision</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Collision</span><span class="result"> extends <a href="../dynamics/Constraint.html" class="extype" name="sims.dynamics.Constraint">Constraint</a></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>Collision between two shapes. Contains methods to compute the collision response.</p></div>
-      
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      <div class="block">
-                known subclasses: <a href="PolyCollision.html">PolyCollision</a>, <a href="PolyCircleCollision.html">PolyCircleCollision</a>, <a href="CircleCollision.html">CircleCollision</a>
-              </div>
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="sims.dynamics.Constraint">Constraint</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.collision.Collision#correctFriction">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctFriction</span><span class="params">(<span name="point">point: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="normalForce">normalForce: <span class="extype" name="scala.Double">Double</span></span>, <span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Collision#correctPosition">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctPosition</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Corrects the positions of bodies according to this constraint</p><div class="fullcomment">
-      <div class="comment cmt"><p>Corrects the positions of bodies according to this constraint.</p></div>
-      <dl class="paramcmts block"><dt class="param">h</dt><dd class="cmt"><p>a time interval, used for converting forces and impulses</p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.Collision#correctVelocity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctVelocity</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Corrects the velocities of bodies according to this constraint</p><div class="fullcomment">
-      <div class="comment cmt"><p>Corrects the velocities of bodies according to this constraint.</p></div>
-      <dl class="paramcmts block"><dt class="param">h</dt><dd class="cmt"><p>a time interval, used for converting forces and impulses</p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.collision.Collision#normal">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">normal</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Normal vector to the collision face</p><div class="fullcomment">
-      <div class="comment cmt"><p>Normal vector to the collision face.</p></div>
-      
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      
-    </div>
-    </li><li name="sims.collision.Collision#points">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">points</span><span class="result">: <span class="extype" name="scala.collection.Iterable">Iterable</span>[<a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Collision points</p><div class="fullcomment">
-      <div class="comment cmt"><p>Collision points.</p></div>
-      
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      
-    </div>
-    </li><li name="sims.collision.Collision#shape1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">shape1</span><span class="result">: <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">First colliding shape (reference shape)</p><div class="fullcomment">
-      <div class="comment cmt"><p>First colliding shape (reference shape).</p></div>
-      
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      
-    </div>
-    </li><li name="sims.collision.Collision#shape2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">shape2</span><span class="result">: <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Second colliding shape (incident shape)</p><div class="fullcomment">
-      <div class="comment cmt"><p>Second colliding shape (incident shape).</p></div>
-      
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.collision.Collision#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Collision</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/collision/Detector.html b/doc/sims/collision/Detector.html
deleted file mode 100644
index c858df8..0000000
--- a/doc/sims/collision/Detector.html
+++ /dev/null
@@ -1,195 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.collision.Detector</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">collision</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>Detector</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Detector</span><span class="result"> extends AnyRef</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>A world detects its collisions through concrete implementations of this class.</p></div>
-      
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      <div class="block">
-                known subclasses: <a href="GridDetector.html">GridDetector</a>
-              </div>
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.collision.Detector#collisions">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">collisions</span><span class="result">: <span class="extype" name="scala.collection.Seq">Seq</span>[<a href="Collision.html" class="extype" name="sims.collision.Collision">Collision</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns all collisions between shapes in the world <code>world</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns all collisions between shapes in the world <code>world</code>.</p></div>
-      
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.collision.Detector#world">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">world</span><span class="result">: <a href="../dynamics/World.html" class="extype" name="sims.dynamics.World">World</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">The world whose shapes are to be checked for collisions</p><div class="fullcomment">
-      <div class="comment cmt"><p>The world whose shapes are to be checked for collisions.</p></div>
-      
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.collision.Detector#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Detector</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/collision/GridDetector.html b/doc/sims/collision/GridDetector.html
deleted file mode 100644
index 6cdaad7..0000000
--- a/doc/sims/collision/GridDetector.html
+++ /dev/null
@@ -1,317 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.collision.GridDetector</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">collision</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>GridDetector</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">GridDetector</span><span class="result"> extends <a href="Detector.html" class="extype" name="sims.collision.Detector">Detector</a></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>A conrete implementation of <code>Detector</code>. <code>GridDetector</code> divides the world into a grid
-for faster collision detection.</p></div>
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="sims.collision.Detector">Detector</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.collision.GridDetector#colliding">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">colliding</span><span class="params">(<span name="p">p: <a href="Pair.html" class="extype" name="sims.collision.Pair">Pair</a></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Checks the pair of shapes <code>p</code> for collision</p><div class="fullcomment">
-      <div class="comment cmt"><p>Checks the pair of shapes <code>p</code> for collision.</p></div>
-      <dl class="paramcmts block"><dt class="param">p</dt><dd class="cmt"><p>Pair of shapes.</p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.GridDetector#collidingPairs">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">collidingPairs</span><span class="result">: <span class="extype" name="scala.collection.Seq">Seq</span>[<a href="Pair.html" class="extype" name="sims.collision.Pair">Pair</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns all colliding pairs</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns all colliding pairs.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.GridDetector#collision">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">collision</span><span class="params">(<span name="p">p: <a href="Pair.html" class="extype" name="sims.collision.Pair">Pair</a></span>)</span><span class="result">: <a href="Collision.html" class="extype" name="sims.collision.Collision">Collision</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the collision between both shapes of the pair <code>p</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the collision between both shapes of the pair <code>p</code>.</p></div>
-      <dl class="paramcmts block"><dt class="param">p</dt><dd class="cmt"><p>Pair of shapes.</p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.GridDetector#collisionMethods">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">collisionMethods</span><span class="result">: <span class="extype" name="scala.collection.mutable.ArrayBuffer">ArrayBuffer</span>[<span class="extype" name="scala.PartialFunction">PartialFunction</span>[(<a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a>, <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a>), <a href="Collision.html" class="extype" name="sims.collision.Collision">Collision</a>]]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Array of methods returning collisions</p><div class="fullcomment">
-      <div class="comment cmt"><p>Array of methods returning collisions. It is assumed that both shapes are colliding.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.GridDetector#collisions">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">collisions</span><span class="result">: <span class="extype" name="scala.collection.Seq">Seq</span>[<a href="Collision.html" class="extype" name="sims.collision.Collision">Collision</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns all collisions</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns all collisions.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.GridDetector#detectionMethods">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">detectionMethods</span><span class="result">: <span class="extype" name="scala.collection.mutable.ArrayBuffer">ArrayBuffer</span>[<span class="extype" name="scala.PartialFunction">PartialFunction</span>[(<a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a>, <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a>), <span class="extype" name="scala.Boolean">Boolean</span>]]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Array of collision detection methods</p><div class="fullcomment">
-      <div class="comment cmt"><p>Array of collision detection methods. These methods return <code>true</code> if two shapes are colliding.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.collision.GridDetector#getPairs">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">getPairs</span><span class="result">: <span class="extype" name="scala.collection.Seq">Seq</span>[<a href="Pair.html" class="extype" name="sims.collision.Pair">Pair</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns potential colliding pairs of shapes of the world <code>world</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns potential colliding pairs of shapes of the world <code>world</code>.
-<p>
-A potential colliding pair is a pair of two shapes that comply with the following criteria:
-<ul>
-<li>The shapes are situated in the same grid cell.</li>
-<li>Their AABBs overlap.</li>
-<li>The shapes do not belong to the same body.</li>
-<li>At least one shape is not fixed.</li>
-<li>Both shapes are {@link dynamics.Shape#collidable}.</li>
-</ul></p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.GridDetector#gridSide">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">gridSide</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Width and height of a grid cell</p><div class="fullcomment">
-      <div class="comment cmt"><p>Width and height of a grid cell.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.collision.GridDetector#pairs">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">pairs</span><span class="result">: <span class="extype" name="scala.collection.Seq">Seq</span>[<a href="Pair.html" class="extype" name="sims.collision.Pair">Pair</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">All potential colliding pairs of the world</p><div class="fullcomment">
-      <div class="comment cmt"><p>All potential colliding pairs of the world.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.collision.GridDetector#world">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">world</span><span class="result">: <a href="../dynamics/World.html" class="extype" name="sims.dynamics.World">World</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">The world whose shapes are to be checked for collisions</p><div class="fullcomment">
-      <div class="comment cmt"><p>The world whose shapes are to be checked for collisions.</p></div>
-      
-      
-      
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.collision.GridDetector#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">GridDetector</span><span class="params">(<span name="world">world: <a href="../dynamics/World.html" class="extype" name="sims.dynamics.World">World</a></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Detector#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">GridDetector</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/collision/Overlap.html b/doc/sims/collision/Overlap.html
deleted file mode 100644
index b6f9960..0000000
--- a/doc/sims/collision/Overlap.html
+++ /dev/null
@@ -1,233 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.collision.Overlap</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">collision</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>Overlap</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Overlap</span><span class="params">(<span name="poly">poly: <a href="../geometry/ConvexPolygon.html" class="extype" name="sims.geometry.ConvexPolygon">ConvexPolygon</a></span>, <span name="sideNum">sideNum: <span class="extype" name="scala.Int">Int</span></span>, <span name="overlap">overlap: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result"> extends <span class="extype" name="scala.Product">Product</span></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.Product">Product</li><li class="in" name="scala.Equals">Equals</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.collision.Overlap#canEqual">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">canEqual</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Overlap#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.Overlap#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.Overlap#overlap">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">overlap</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Overlap#poly">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">poly</span><span class="result">: <a href="../geometry/ConvexPolygon.html" class="extype" name="sims.geometry.ConvexPolygon">ConvexPolygon</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Overlap#productArity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productArity</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Overlap#productElement">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElement</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Int">Int</span></span>)</span><span class="result">: <span class="extype" name="scala.Any">Any</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productElements">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElements</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productIterator">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productIterator</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Overlap#productPrefix">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productPrefix</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Overlap#sideNum">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">sideNum</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Overlap#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.collision.Overlap#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Overlap</span><span class="params">(<span name="poly">poly: <a href="../geometry/ConvexPolygon.html" class="extype" name="sims.geometry.ConvexPolygon">ConvexPolygon</a></span>, <span name="sideNum">sideNum: <span class="extype" name="scala.Int">Int</span></span>, <span name="overlap">overlap: <span class="extype" name="scala.Double">Double</span></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Overlap</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/collision/Pair.html b/doc/sims/collision/Pair.html
deleted file mode 100644
index af5a434..0000000
--- a/doc/sims/collision/Pair.html
+++ /dev/null
@@ -1,274 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.collision.Pair</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">collision</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>Pair</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Pair</span><span class="params">(<span name="s1">s1: <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>, <span name="s2">s2: <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>)</span><span class="result"> extends (<a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a>, <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a>) with <span class="extype" name="scala.Product">Product</span></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>Pair of shapes.</p></div>
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.Tuple2">Tuple2</li><li class="in" name="scala.Product2">Product2</li><li class="in" name="scala.Product">Product</li><li class="in" name="scala.Equals">Equals</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="scala.Tuple2#_1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">_1</span><span class="result">: <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Tuple2#_2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">_2</span><span class="result">: <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Pair#canEqual">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">canEqual</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Pair#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="other">other: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.Pair#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="scala.Product2#productArity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productArity</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product2#productElement">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElement</span><span class="params">(<span name="n">n: <span class="extype" name="scala.Int">Int</span></span>)</span><span class="result">: <span class="extype" name="scala.Any">Any</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productElements">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElements</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productIterator">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productIterator</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Pair#productPrefix">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productPrefix</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Pair#s1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">s1</span><span class="result">: <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Pair#s2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">s2</span><span class="result">: <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Tuple2#swap">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">swap</span><span class="result">: (<a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a>, <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Tuple2#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      <div class="block">
-            definition classes: Tuple2 ⇐ AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.Tuple2#zip">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">zip</span><span class="tparams">[<span name="Repr1">Repr1</span>, <span name="El1">El1</span>, <span name="El2">El2</span>, <span name="To">To</span>]</span><span class="params">(<span name="w1">w1: (<a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a>) ⇒ <span class="extype" name="scala.collection.TraversableLike">TraversableLike</span>[El1, Repr1]</span>, <span name="w2">w2: (<a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a>) ⇒ <span class="extype" name="scala.collection.Iterable">Iterable</span>[El2]</span>, <span name="cbf1">cbf1: <span class="extype" name="scala.collection.generic.CanBuildFrom">CanBuildFrom</span>[Repr1, (El1, El2), To]</span>)</span><span class="result">: To</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Tuple2#zipped">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">zipped</span><span class="tparams">[<span name="Repr1">Repr1</span>, <span name="El1">El1</span>, <span name="Repr2">Repr2</span>, <span name="El2">El2</span>]</span><span class="params">(<span name="w1">w1: (<a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a>) ⇒ <span class="extype" name="scala.collection.TraversableLike">TraversableLike</span>[El1, Repr1]</span>, <span name="w2">w2: (<a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a>) ⇒ <span class="extype" name="scala.collection.IterableLike">IterableLike</span>[El2, Repr2]</span>)</span><span class="result">: <span class="extype" name="scala.Tuple2.Zipped">Zipped</span>[Repr1, El1, Repr2, El2]</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.collision.Pair#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Pair</span><span class="params">(<span name="t">t: (<a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a>, <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a>)</span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Pair#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Pair</span><span class="params">(<span name="s1">s1: <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>, <span name="s2">s2: <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Pair</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/collision/PolyCircleCollision.html b/doc/sims/collision/PolyCircleCollision.html
deleted file mode 100644
index fc31ca6..0000000
--- a/doc/sims/collision/PolyCircleCollision.html
+++ /dev/null
@@ -1,321 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.collision.PolyCircleCollision</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">collision</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>PolyCircleCollision</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">PolyCircleCollision</span><span class="params">(<span name="p">p: <a href="../geometry/ConvexPolygon.html" class="extype" name="sims.geometry.ConvexPolygon">ConvexPolygon</a></span>, <span name="c">c: <a href="../dynamics/Circle.html" class="extype" name="sims.dynamics.Circle">Circle</a></span>)</span><span class="result"> extends <a href="Collision.html" class="extype" name="sims.collision.Collision">Collision</a> with <span class="extype" name="scala.Product">Product</span></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>Collision between a convex polygon and a circle.</p></div>
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.Product">Product</li><li class="in" name="scala.Equals">Equals</li><li class="in" name="sims.collision.Collision">Collision</li><li class="in" name="sims.dynamics.Constraint">Constraint</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.collision.PolyCircleCollision#c">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">c</span><span class="result">: <a href="../dynamics/Circle.html" class="extype" name="sims.dynamics.Circle">Circle</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.PolyCircleCollision#canEqual">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">canEqual</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Collision#correctFriction">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctFriction</span><span class="params">(<span name="point">point: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="normalForce">normalForce: <span class="extype" name="scala.Double">Double</span></span>, <span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Collision#correctPosition">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctPosition</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Corrects the positions of bodies according to this constraint</p><div class="fullcomment">
-      <div class="comment cmt"><p>Corrects the positions of bodies according to this constraint.</p></div>
-      <dl class="paramcmts block"><dt class="param">h</dt><dd class="cmt"><p>a time interval, used for converting forces and impulses</p></dd></dl>
-      
-      <div class="block">
-            definition classes: <a href="Collision.html">Collision</a> ⇐ <a href="../dynamics/Constraint.html">Constraint</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.collision.Collision#correctVelocity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctVelocity</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Corrects the velocities of bodies according to this constraint</p><div class="fullcomment">
-      <div class="comment cmt"><p>Corrects the velocities of bodies according to this constraint.</p></div>
-      <dl class="paramcmts block"><dt class="param">h</dt><dd class="cmt"><p>a time interval, used for converting forces and impulses</p></dd></dl>
-      
-      <div class="block">
-            definition classes: <a href="Collision.html">Collision</a> ⇐ <a href="../dynamics/Constraint.html">Constraint</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.collision.PolyCircleCollision#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.PolyCircleCollision#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.PolyCircleCollision#normal">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">normal</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Normal vector to the collision face</p><div class="fullcomment">
-      <div class="comment cmt"><p>Normal vector to the collision face.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.PolyCircleCollision#p">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">p</span><span class="result">: <a href="../geometry/ConvexPolygon.html" class="extype" name="sims.geometry.ConvexPolygon">ConvexPolygon</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.PolyCircleCollision#points">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">points</span><span class="result">: <span class="extype" name="scala.collection.immutable.List">List</span>[<a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Collision points</p><div class="fullcomment">
-      <div class="comment cmt"><p>Collision points.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.PolyCircleCollision#productArity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productArity</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.PolyCircleCollision#productElement">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElement</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Int">Int</span></span>)</span><span class="result">: <span class="extype" name="scala.Any">Any</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productElements">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElements</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productIterator">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productIterator</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.PolyCircleCollision#productPrefix">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productPrefix</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.PolyCircleCollision#shape1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">shape1</span><span class="result">: <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">First colliding shape (reference shape)</p><div class="fullcomment">
-      <div class="comment cmt"><p>First colliding shape (reference shape).</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.PolyCircleCollision#shape2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">shape2</span><span class="result">: <a href="../dynamics/Circle.html" class="extype" name="sims.dynamics.Circle">Circle</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Second colliding shape (incident shape)</p><div class="fullcomment">
-      <div class="comment cmt"><p>Second colliding shape (incident shape).</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.PolyCircleCollision#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.collision.PolyCircleCollision#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">PolyCircleCollision</span><span class="params">(<span name="p">p: <a href="../geometry/ConvexPolygon.html" class="extype" name="sims.geometry.ConvexPolygon">ConvexPolygon</a></span>, <span name="c">c: <a href="../dynamics/Circle.html" class="extype" name="sims.dynamics.Circle">Circle</a></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Collision#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">PolyCircleCollision</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/collision/PolyCollision.html b/doc/sims/collision/PolyCollision.html
deleted file mode 100644
index 8a9cc89..0000000
--- a/doc/sims/collision/PolyCollision.html
+++ /dev/null
@@ -1,345 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.collision.PolyCollision</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">collision</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>PolyCollision</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">PolyCollision</span><span class="params">(<span name="p1">p1: <a href="../geometry/ConvexPolygon.html" class="extype" name="sims.geometry.ConvexPolygon">ConvexPolygon</a></span>, <span name="p2">p2: <a href="../geometry/ConvexPolygon.html" class="extype" name="sims.geometry.ConvexPolygon">ConvexPolygon</a></span>)</span><span class="result"> extends <a href="Collision.html" class="extype" name="sims.collision.Collision">Collision</a> with <span class="extype" name="scala.Product">Product</span></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>Collision between two convex polygons.</p></div>
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.Product">Product</li><li class="in" name="scala.Equals">Equals</li><li class="in" name="sims.collision.Collision">Collision</li><li class="in" name="sims.dynamics.Constraint">Constraint</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.collision.PolyCollision#canEqual">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">canEqual</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Collision#correctFriction">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctFriction</span><span class="params">(<span name="point">point: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="normalForce">normalForce: <span class="extype" name="scala.Double">Double</span></span>, <span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Collision#correctPosition">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctPosition</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Corrects the positions of bodies according to this constraint</p><div class="fullcomment">
-      <div class="comment cmt"><p>Corrects the positions of bodies according to this constraint.</p></div>
-      <dl class="paramcmts block"><dt class="param">h</dt><dd class="cmt"><p>a time interval, used for converting forces and impulses</p></dd></dl>
-      
-      <div class="block">
-            definition classes: <a href="Collision.html">Collision</a> ⇐ <a href="../dynamics/Constraint.html">Constraint</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.collision.Collision#correctVelocity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctVelocity</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Corrects the velocities of bodies according to this constraint</p><div class="fullcomment">
-      <div class="comment cmt"><p>Corrects the velocities of bodies according to this constraint.</p></div>
-      <dl class="paramcmts block"><dt class="param">h</dt><dd class="cmt"><p>a time interval, used for converting forces and impulses</p></dd></dl>
-      
-      <div class="block">
-            definition classes: <a href="Collision.html">Collision</a> ⇐ <a href="../dynamics/Constraint.html">Constraint</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.collision.PolyCollision#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.PolyCollision#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.PolyCollision#minOverlap">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">minOverlap</span><span class="result">: <a href="Overlap.html" class="extype" name="sims.collision.Overlap">Overlap</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.PolyCollision#normal">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">normal</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Normal vector to the collision face</p><div class="fullcomment">
-      <div class="comment cmt"><p>Normal vector to the collision face.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.PolyCollision#overlap">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">overlap</span><span class="params">(<span name="axis">axis: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.PolyCollision#overlaps">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">overlaps</span><span class="result">: <span class="extype" name="scala.collection.immutable.IndexedSeq">IndexedSeq</span>[<a href="Overlap.html" class="extype" name="sims.collision.Overlap">Overlap</a>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.PolyCollision#p1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">p1</span><span class="result">: <a href="../geometry/ConvexPolygon.html" class="extype" name="sims.geometry.ConvexPolygon">ConvexPolygon</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.PolyCollision#p2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">p2</span><span class="result">: <a href="../geometry/ConvexPolygon.html" class="extype" name="sims.geometry.ConvexPolygon">ConvexPolygon</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.PolyCollision#points">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">points</span><span class="result">: <span class="extype" name="scala.collection.Seq">Seq</span>[<a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Collision points</p><div class="fullcomment">
-      <div class="comment cmt"><p>Collision points.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.PolyCollision#productArity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productArity</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.PolyCollision#productElement">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElement</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Int">Int</span></span>)</span><span class="result">: <span class="extype" name="scala.Any">Any</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productElements">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElements</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productIterator">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productIterator</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.PolyCollision#productPrefix">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productPrefix</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.PolyCollision#shape1">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">shape1</span><span class="result">: <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">First colliding shape (reference shape)</p><div class="fullcomment">
-      <div class="comment cmt"><p>First colliding shape (reference shape).</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.PolyCollision#shape2">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">shape2</span><span class="result">: <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Second colliding shape (incident shape)</p><div class="fullcomment">
-      <div class="comment cmt"><p>Second colliding shape (incident shape).</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.collision.PolyCollision#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.collision.PolyCollision#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">PolyCollision</span><span class="params">(<span name="p1">p1: <a href="../geometry/ConvexPolygon.html" class="extype" name="sims.geometry.ConvexPolygon">ConvexPolygon</a></span>, <span name="p2">p2: <a href="../geometry/ConvexPolygon.html" class="extype" name="sims.geometry.ConvexPolygon">ConvexPolygon</a></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.collision.Collision#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">PolyCollision</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/collision/package.html b/doc/sims/collision/package.html
deleted file mode 100644
index a1e571e..0000000
--- a/doc/sims/collision/package.html
+++ /dev/null
@@ -1,137 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.collision</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="value">
-      
-      <p id="owner"><a href="../package.html">sims</a></p>
-
-      <div id="definition">
-        <img src="../../lib/package_big.png" />
-        <h1>collision</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">package</span>
-      <span class="symbol">
-        <span class="name">collision</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        
-        
-        <div class="members" id="types">
-              <h3>Type Members</h3>
-              <ol><li name="sims.collision.AABB">
-      <h4 class="signature"><a href="AABB.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">AABB</span><span class="params">(<span name="minVertex">minVertex: Vector2D</span>, <span name="maxVertex">maxVertex: Vector2D</span>)</span><span class="result"> extends Product</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">Axis Aligned Bounding Boxes (AABBs) are rectangles that frame a shape</p>
-    </li><li name="sims.collision.CircleCollision">
-      <h4 class="signature"><a href="CircleCollision.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">CircleCollision</span><span class="params">(<span name="c1">c1: Circle</span>, <span name="c2">c2: Circle</span>)</span><span class="result"> extends Collision with Product</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">Collision between two circles</p>
-    </li><li name="sims.collision.Collision">
-      <h4 class="signature"><a href="Collision.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Collision</span><span class="result"> extends Constraint</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">Collision between two shapes</p>
-    </li><li name="sims.collision.Detector">
-      <h4 class="signature"><a href="Detector.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Detector</span><span class="result"> extends AnyRef</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">A world detects its collisions through concrete implementations of this class</p>
-    </li><li name="sims.collision.GridDetector">
-      <h4 class="signature"><a href="GridDetector.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">GridDetector</span><span class="result"> extends Detector</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">A conrete implementation of <code>Detector</code></p>
-    </li><li name="sims.collision.Overlap">
-      <h4 class="signature"><a href="Overlap.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Overlap</span><span class="params">(<span name="poly">poly: ConvexPolygon</span>, <span name="sideNum">sideNum: Int</span>, <span name="overlap">overlap: Double</span>)</span><span class="result"> extends Product</span>
-      </span>
-      </a></h4>
-      
-    </li><li name="sims.collision.Pair">
-      <h4 class="signature"><a href="Pair.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Pair</span><span class="params">(<span name="s1">s1: Shape</span>, <span name="s2">s2: Shape</span>)</span><span class="result"> extends (Shape, Shape) with Product</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">Pair of shapes</p>
-    </li><li name="sims.collision.PolyCircleCollision">
-      <h4 class="signature"><a href="PolyCircleCollision.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">PolyCircleCollision</span><span class="params">(<span name="p">p: ConvexPolygon</span>, <span name="c">c: Circle</span>)</span><span class="result"> extends Collision with Product</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">Collision between a convex polygon and a circle</p>
-    </li><li name="sims.collision.PolyCollision">
-      <h4 class="signature"><a href="PolyCollision.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">PolyCollision</span><span class="params">(<span name="p1">p1: ConvexPolygon</span>, <span name="p2">p2: ConvexPolygon</span>)</span><span class="result"> extends Collision with Product</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">Collision between two convex polygons</p>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.collision.Collision">
-      <h4 class="signature"><a href="Collision$.html">
-      <span class="kind">object</span>
-      <span class="symbol">
-        <span class="name">Collision</span><span class="result"> extends AnyRef</span>
-      </span>
-      </a></h4>
-      
-    </li></ol>
-            </div>
-        
-        
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/Body$.html b/doc/sims/dynamics/Body$.html
deleted file mode 100644
index c9c6b49..0000000
--- a/doc/sims/dynamics/Body$.html
+++ /dev/null
@@ -1,148 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.dynamics.Body</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="value">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">dynamics</a></p>
-
-      <div id="definition">
-        <img src="../../lib/object_big.png" />
-        <h1>Body</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">object</span>
-      <span class="symbol">
-        <span class="name">Body</span><span class="result"> extends AnyRef</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="scala.AnyRef#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/Body.html b/doc/sims/dynamics/Body.html
deleted file mode 100644
index 858116a..0000000
--- a/doc/sims/dynamics/Body.html
+++ /dev/null
@@ -1,490 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.dynamics.Body</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">dynamics</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>Body</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Body</span><span class="result"> extends AnyRef</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>A two dimensional rigid body is made out of shapes.</p></div>
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.dynamics.Body#I">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">I</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the moment of inertia for rotations about the COM of this body</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the moment of inertia for rotations about the COM of this body.
-It is calculated using the moments of inertia of this body's shapes and the parallel axis theorem.
-If the body is fixed, its moment of inertia is infinite (<code>Double.PositiveInfinity</code>).</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Body#angularVelocity">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">angularVelocity</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Angular velocity of this body</p><div class="fullcomment">
-      <div class="comment cmt"><p>Angular velocity of this body.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Body#applyForce">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">applyForce</span><span class="params">(<span name="force">force: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="point">point: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Applies a force to a point on this body</p><div class="fullcomment">
-      <div class="comment cmt"><p>Applies a force to a point on this body. Warning: the point is considered to be contained within this body.</p></div>
-      <dl class="paramcmts block"><dt class="param">force</dt><dd class="cmt"><p>applied force</p></dd><dt class="param">point</dt><dd class="cmt"><p>position vector of the point (in world coordinates)</p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Body#applyForce">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">applyForce</span><span class="params">(<span name="force">force: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Applies a force to the COM of this body</p><div class="fullcomment">
-      <div class="comment cmt"><p>Applies a force to the COM of this body.</p></div>
-      <dl class="paramcmts block"><dt class="param">force</dt><dd class="cmt"><p>applied force</p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Body#applyImpulse">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">applyImpulse</span><span class="params">(<span name="impulse">impulse: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="point">point: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Applies an impulse to a point on this body</p><div class="fullcomment">
-      <div class="comment cmt"><p>Applies an impulse to a point on this body. Warning: the point is considered to be contained within this body.</p></div>
-      <dl class="paramcmts block"><dt class="param">impulse</dt><dd class="cmt"><p>applied impulse</p></dd><dt class="param">point</dt><dd class="cmt"><p>position vector of the point (in world coordinates)</p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Body#applyImpulse">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">applyImpulse</span><span class="params">(<span name="impulse">impulse: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Applies an impulse to the COM of this body</p><div class="fullcomment">
-      <div class="comment cmt"><p>Applies an impulse to the COM of this body.</p></div>
-      <dl class="paramcmts block"><dt class="param">impulse</dt><dd class="cmt"><p>applied impulse</p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Body#contains">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">contains</span><span class="params">(<span name="point">point: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Checks if the point <code>point</code> is contained in this body</p><div class="fullcomment">
-      <div class="comment cmt"><p>Checks if the point <code>point</code> is contained in this body.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Body#fixed">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">fixed</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns whether this body is fixed or not</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns whether this body is fixed or not.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Body#fixed_=">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">fixed_=</span><span class="params">(<span name="value">value: <span class="extype" name="scala.Boolean">Boolean</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Fixes or frees this body</p><div class="fullcomment">
-      <div class="comment cmt"><p>Fixes or frees this body. By fixing, linear and angular velocities are set to zero.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Body#force">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">force</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Resulting force on the COM of this body</p><div class="fullcomment">
-      <div class="comment cmt"><p>Resulting force on the COM of this body.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Body#linearVelocity">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">linearVelocity</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Linear velocity of this body</p><div class="fullcomment">
-      <div class="comment cmt"><p>Linear velocity of this body.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Body#mass">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">mass</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the mass of this body</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the mass of this body. If the body is free, its mass is the sum of the masses of its shapes.
-If the body is fixed, its mass is infinite (<code>Double.PositiveInfinity</code>).</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Body#monitor">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">monitor</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Flag for a world to monitor the properties of this body</p><div class="fullcomment">
-      <div class="comment cmt"><p>Flag for a world to monitor the properties of this body.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Body#pos">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">pos</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the position of this body</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the position of this body. The position is equivalent to the center of mass.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Body#pos_=">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">pos_=</span><span class="params">(<span name="newPos">newPos: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Sets the position of this body</p><div class="fullcomment">
-      <div class="comment cmt"><p>Sets the position of this body. By doing so all its shapes are translated.</p></div>
-      <dl class="paramcmts block"><dt class="param">newPos</dt><dd class="cmt"><p>new position</p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Body#rotation">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">rotation</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the current rotation of this body</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the current rotation of this body.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Body#rotation_=">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">rotation_=</span><span class="params">(<span name="newRotation">newRotation: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Sets the rotation of this body</p><div class="fullcomment">
-      <div class="comment cmt"><p>Sets the rotation of this body. Position and rotation of shapes are modified accordingly.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Body#shapes">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">shapes</span><span class="result">: <span class="extype" name="scala.collection.immutable.List">List</span>[<a href="Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Shapes that belong to this body</p><div class="fullcomment">
-      <div class="comment cmt"><p>Shapes that belong to this body.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Body#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Body#torque">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">torque</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Resulting torque on this body</p><div class="fullcomment">
-      <div class="comment cmt"><p>Resulting torque on this body.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Body#uid">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">uid</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Unique identification number</p><div class="fullcomment">
-      <div class="comment cmt"><p>Unique identification number.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Body#velocityOfPoint">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">velocityOfPoint</span><span class="params">(<span name="point">point: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Linear velocity of the given point on this body (in world coordinates)</p><div class="fullcomment">
-      <div class="comment cmt"><p>Linear velocity of the given point on this body (in world coordinates).</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Body#~">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">~</span><span class="params">(<span name="b">b: <a href="" class="extype" name="sims.dynamics.Body">Body</a></span>)</span><span class="result">: <a href="" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Creates a new body containing this body's shapes and the shapes of another body <code>b</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Creates a new body containing this body's shapes and the shapes of another body <code>b</code>.</p></div>
-      <dl class="paramcmts block"><dt class="param">b</dt><dd class="cmt"><p>body with extra shapes</p></dd><dt>returns</dt><dd class="cmt"><p>new body</p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Body#~">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">~</span><span class="params">(<span name="s">s: <a href="Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>)</span><span class="result">: <a href="" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Creates a new body containing this body's shapes and the shape <code>s</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Creates a new body containing this body's shapes and the shape <code>s</code>.</p></div>
-      <dl class="paramcmts block"><dt class="param">s</dt><dd class="cmt"><p>new shape</p></dd><dt>returns</dt><dd class="cmt"><p>new body</p></dd></dl>
-      
-      
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.dynamics.Body#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Body</span><span class="params">(<span name="shps">shps: <a href="Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a>*</span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Body</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/Circle.html b/doc/sims/dynamics/Circle.html
deleted file mode 100644
index 47526f7..0000000
--- a/doc/sims/dynamics/Circle.html
+++ /dev/null
@@ -1,530 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.dynamics.Circle</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">dynamics</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>Circle</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Circle</span><span class="params">(<span name="radius">radius: <span class="extype" name="scala.Double">Double</span></span>, <span name="density">density: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result"> extends <a href="Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a> with <span class="extype" name="scala.Product">Product</span></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>A circle.</p></div>
-      <dl class="paramcmts block"><dt class="param">radius</dt><dd class="cmt"><p>radius of this circle</p></dd><dt class="param">density</dt><dd class="cmt"><p>density of this circle</p></dd></dl>
-      
-      
-      <div class="block">
-                known subclasses: <a href="../../graphyx/graphics/GraphicalCircle.html">GraphicalCircle</a>
-              </div>
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.Product">Product</li><li class="in" name="scala.Equals">Equals</li><li class="in" name="sims.dynamics.Shape">Shape</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.dynamics.Circle#AABB">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">AABB</span><span class="result">: <a href="../collision/AABB.html" class="extype" name="sims.collision.AABB">AABB</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns this shape's axis aligned bounding box</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns this shape's axis aligned bounding box.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Circle#I">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">I</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Moment of inertia for a rotation about this shape's COM</p><div class="fullcomment">
-      <div class="comment cmt"><p>Moment of inertia for a rotation about this shape's COM.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#asBody">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">asBody</span><span class="result">: <a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Creates a new body made out of tis shape</p><div class="fullcomment">
-      <div class="comment cmt"><p>Creates a new body made out of tis shape.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#body">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">body</span><span class="result">: <a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns this shape's containing body</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns this shape's containing body.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Circle#canEqual">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">canEqual</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.Shape#collidable">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">collidable</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Flag determining this shapes ability to collide with other shapes</p><div class="fullcomment">
-      <div class="comment cmt"><p>Flag determining this shapes ability to collide with other shapes.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Circle#contains">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">contains</span><span class="params">(<span name="point">point: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Checks if the point <code>point</code> is contained in this shape</p><div class="fullcomment">
-      <div class="comment cmt"><p>Checks if the point <code>point</code> is contained in this shape.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Circle#density">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">density</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Density</p><div class="fullcomment">
-      <div class="comment cmt"><p>Density. (Mass per area)</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Circle#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#friction">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">friction</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Part of the coefficient of friction for a collision between this shape and another</p><div class="fullcomment">
-      <div class="comment cmt"><p>Part of the coefficient of friction for a collision between this shape and another.
-The coefficient of friction is calculated out of the product of this part and the other shape's part.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Circle#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#mass">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">mass</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the mass of this shape</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the mass of this shape. The mass is given by volume times density.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#pos">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">pos</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Position of this shape's COM (in world coordinates)</p><div class="fullcomment">
-      <div class="comment cmt"><p>Position of this shape's COM (in world coordinates).</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Circle#productArity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productArity</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.Circle#productElement">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElement</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Int">Int</span></span>)</span><span class="result">: <span class="extype" name="scala.Any">Any</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productElements">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElements</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productIterator">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productIterator</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.Circle#productPrefix">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productPrefix</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.Circle#project">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">project</span><span class="params">(<span name="axis">axis: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <a href="../geometry/Projection.html" class="extype" name="sims.geometry.Projection">Projection</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the projection of this shape onto the line given by the directional vector <code>axis</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the projection of this shape onto the line given by the directional vector <code>axis</code>.</p></div>
-      <dl class="paramcmts block"><dt class="param">axis</dt><dd class="cmt"><p>directional vector of the line</p></dd><dt>returns</dt><dd class="cmt"><p>projection of this shape</p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Circle#radius">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">radius</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.Shape#refLocalPos">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">refLocalPos</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Local position of this shape's body COM to its COM at a body rotation of zero</p><div class="fullcomment">
-      <div class="comment cmt"><p>Local position of this shape's body COM to its COM at a body rotation of zero.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#restitution">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">restitution</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Part of the coefficient of restitution for a collision between this shape and another</p><div class="fullcomment">
-      <div class="comment cmt"><p>Part of the coefficient of restitution for a collision between this shape and another.
-The coefficient of restitution is calculated out of the product of this part and the other shape's part.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#rotation">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">rotation</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Rotation of this shape about its COM</p><div class="fullcomment">
-      <div class="comment cmt"><p>Rotation of this shape about its COM.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#rotation0">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">rotation0</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Initial rotation</p><div class="fullcomment">
-      <div class="comment cmt"><p>Initial rotation. Rotation of this shape before it was added to a body.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Circle#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#transientShapes">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">transientShapes</span><span class="result">: <span class="extype" name="scala.collection.mutable.Set">Set</span>[<a href="Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Shapes with which this shape cannot collide</p><div class="fullcomment">
-      <div class="comment cmt"><p>Shapes with which this shape cannot collide.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#uid">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">uid</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Unique identification number</p><div class="fullcomment">
-      <div class="comment cmt"><p>Unique identification number.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Circle#volume">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">volume</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Volume</p><div class="fullcomment">
-      <div class="comment cmt"><p>Volume. The volume is actually equivalent to this shape's area (SiMS is in 2D)
-and is used with this shape's density to calculate its mass.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#~">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">~</span><span class="params">(<span name="b">b: <a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>)</span><span class="result">: <a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Creates a new body out of this shape and the shapes of body <code>b</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Creates a new body out of this shape and the shapes of body <code>b</code>.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#~">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">~</span><span class="params">(<span name="s">s: <a href="Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>)</span><span class="result">: <a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Creates a new body out of this shape and the shape <code>s</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Creates a new body out of this shape and the shape <code>s</code>.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.dynamics.Circle#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Circle</span><span class="params">(<span name="radius">radius: <span class="extype" name="scala.Double">Double</span></span>, <span name="density">density: <span class="extype" name="scala.Double">Double</span></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.Shape#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Circle</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/Constraint.html b/doc/sims/dynamics/Constraint.html
deleted file mode 100644
index 23264ed..0000000
--- a/doc/sims/dynamics/Constraint.html
+++ /dev/null
@@ -1,184 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.dynamics.Constraint</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">dynamics</a></p>
-
-      <div id="definition">
-        <img src="../../lib/trait_big.png" />
-        <h1>Constraint</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">trait</span>
-      <span class="symbol">
-        <span class="name">Constraint</span><span class="result"> extends AnyRef</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>All constraints in SiMS implement this trait.
-Position and velocity can be corrected for each constraint.
-The implementation of constraints was inspired by Erin Catto's box2d.</p></div>
-      
-      
-      
-      <div class="block">
-                known subclasses: <a href="joints/Joint.html">Joint</a>, <a href="../collision/Collision.html">Collision</a>
-              </div>
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.dynamics.Constraint#correctPosition">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctPosition</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Corrects the positions of bodies according to this constraint</p><div class="fullcomment">
-      <div class="comment cmt"><p>Corrects the positions of bodies according to this constraint.</p></div>
-      <dl class="paramcmts block"><dt class="param">h</dt><dd class="cmt"><p>a time interval, used for converting forces and impulses</p></dd></dl>
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Constraint#correctVelocity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctVelocity</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Corrects the velocities of bodies according to this constraint</p><div class="fullcomment">
-      <div class="comment cmt"><p>Corrects the velocities of bodies according to this constraint.</p></div>
-      <dl class="paramcmts block"><dt class="param">h</dt><dd class="cmt"><p>a time interval, used for converting forces and impulses</p></dd></dl>
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/Rectangle.html b/doc/sims/dynamics/Rectangle.html
deleted file mode 100644
index 63ef89d..0000000
--- a/doc/sims/dynamics/Rectangle.html
+++ /dev/null
@@ -1,598 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.dynamics.Rectangle</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">dynamics</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>Rectangle</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Rectangle</span><span class="params">(<span name="halfWidth">halfWidth: <span class="extype" name="scala.Double">Double</span></span>, <span name="halfHeight">halfHeight: <span class="extype" name="scala.Double">Double</span></span>, <span name="density">density: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result"> extends <a href="Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a> with <a href="../geometry/ConvexPolygon.html" class="extype" name="sims.geometry.ConvexPolygon">ConvexPolygon</a> with <span class="extype" name="scala.Product">Product</span></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>A rectangle is a polygon.</p></div>
-      <dl class="paramcmts block"><dt class="param">halfWidth</dt><dd class="cmt"><p>this rectangle's half width</p></dd><dt class="param">halfHeight</dt><dd class="cmt"><p>this rectangle's half height</p></dd><dt class="param">density</dt><dd class="cmt"><p>density of this rectangle</p></dd></dl>
-      
-      
-      <div class="block">
-                known subclasses: <a href="../../graphyx/graphics/GraphicalRectangle.html">GraphicalRectangle</a>
-              </div>
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.Product">Product</li><li class="in" name="scala.Equals">Equals</li><li class="in" name="sims.geometry.ConvexPolygon">ConvexPolygon</li><li class="in" name="sims.dynamics.Shape">Shape</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.geometry.ConvexPolygon#AABB">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">AABB</span><span class="result">: <a href="../collision/AABB.html" class="extype" name="sims.collision.AABB">AABB</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns this polygon's axis aligned bounding box</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns this polygon's axis aligned bounding box.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="../geometry/ConvexPolygon.html">ConvexPolygon</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Rectangle#I">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">I</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Moment of inertia for a rotation about this shape's COM</p><div class="fullcomment">
-      <div class="comment cmt"><p>Moment of inertia for a rotation about this shape's COM.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#asBody">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">asBody</span><span class="result">: <a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Creates a new body made out of tis shape</p><div class="fullcomment">
-      <div class="comment cmt"><p>Creates a new body made out of tis shape.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#body">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">body</span><span class="result">: <a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns this shape's containing body</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns this shape's containing body.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Rectangle#canEqual">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">canEqual</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.Shape#collidable">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">collidable</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Flag determining this shapes ability to collide with other shapes</p><div class="fullcomment">
-      <div class="comment cmt"><p>Flag determining this shapes ability to collide with other shapes.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.geometry.ConvexPolygon#contains">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">contains</span><span class="params">(<span name="point">point: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Checks if the point <code>point</code> is contained in this polygon</p><div class="fullcomment">
-      <div class="comment cmt"><p>Checks if the point <code>point</code> is contained in this polygon.
-<p>
-A ray is created, originating from the point and following an arbitrary direction (X-Axis was chosen).
-The number of intersections between the ray and this polygon's sides (including vertices) is counted.
-The amount of intersections with vertices is substracted form the previuos number.
-If the latter number is odd, the point is contained in the polygon.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="../geometry/ConvexPolygon.html">ConvexPolygon</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Rectangle#density">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">density</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Density</p><div class="fullcomment">
-      <div class="comment cmt"><p>Density. (Mass per area)</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Rectangle#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#friction">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">friction</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Part of the coefficient of friction for a collision between this shape and another</p><div class="fullcomment">
-      <div class="comment cmt"><p>Part of the coefficient of friction for a collision between this shape and another.
-The coefficient of friction is calculated out of the product of this part and the other shape's part.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Rectangle#halfDiags">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">halfDiags</span><span class="result">: <span class="extype" name="scala.Array">Array</span>[<a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the vectors from the center to the vertices of this rectangle</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the vectors from the center to the vertices of this rectangle.
-The first vertex is the upper-right vertex at a rotation of 0.
-Vertices are ordered counter-clockwise.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Rectangle#halfHeight">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">halfHeight</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.Rectangle#halfWidth">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">halfWidth</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.Rectangle#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#mass">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">mass</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the mass of this shape</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the mass of this shape. The mass is given by volume times density.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#pos">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">pos</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Position of this shape's COM (in world coordinates)</p><div class="fullcomment">
-      <div class="comment cmt"><p>Position of this shape's COM (in world coordinates).</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Rectangle#productArity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productArity</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.Rectangle#productElement">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElement</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Int">Int</span></span>)</span><span class="result">: <span class="extype" name="scala.Any">Any</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productElements">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElements</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productIterator">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productIterator</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.Rectangle#productPrefix">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productPrefix</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.ConvexPolygon#project">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">project</span><span class="params">(<span name="axis">axis: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <a href="../geometry/Projection.html" class="extype" name="sims.geometry.Projection">Projection</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the projection of this polygon onto the line given by the directional vector <code>axis</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the projection of this polygon onto the line given by the directional vector <code>axis</code>.</p></div>
-      <dl class="paramcmts block"><dt class="param">axis</dt><dd class="cmt"><p>directional vector of the line</p></dd><dt>returns</dt><dd class="cmt"><p>projection of this polygon</p></dd></dl>
-      
-      <div class="block">
-            definition classes: <a href="../geometry/ConvexPolygon.html">ConvexPolygon</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#refLocalPos">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">refLocalPos</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Local position of this shape's body COM to its COM at a body rotation of zero</p><div class="fullcomment">
-      <div class="comment cmt"><p>Local position of this shape's body COM to its COM at a body rotation of zero.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#restitution">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">restitution</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Part of the coefficient of restitution for a collision between this shape and another</p><div class="fullcomment">
-      <div class="comment cmt"><p>Part of the coefficient of restitution for a collision between this shape and another.
-The coefficient of restitution is calculated out of the product of this part and the other shape's part.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#rotation">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">rotation</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Rotation of this shape about its COM</p><div class="fullcomment">
-      <div class="comment cmt"><p>Rotation of this shape about its COM.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#rotation0">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">rotation0</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Initial rotation</p><div class="fullcomment">
-      <div class="comment cmt"><p>Initial rotation. Rotation of this shape before it was added to a body.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.geometry.ConvexPolygon#sides">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">sides</span><span class="result">: <span class="extype" name="scala.Array">Array</span>[<a href="../geometry/Segment.html" class="extype" name="sims.geometry.Segment">Segment</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns all sides of this polygon</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns all sides of this polygon. The sides are ordered counter-clockwise, the first vertex of the side
-giving the side index.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="../geometry/ConvexPolygon.html">ConvexPolygon</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Rectangle#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#transientShapes">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">transientShapes</span><span class="result">: <span class="extype" name="scala.collection.mutable.Set">Set</span>[<a href="Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Shapes with which this shape cannot collide</p><div class="fullcomment">
-      <div class="comment cmt"><p>Shapes with which this shape cannot collide.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#uid">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">uid</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Unique identification number</p><div class="fullcomment">
-      <div class="comment cmt"><p>Unique identification number.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Rectangle#vertices">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">vertices</span><span class="result">: <span class="extype" name="scala.collection.Seq">Seq</span>[<a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the position vectors of this rectangle's vertices</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the position vectors of this rectangle's vertices.
-The first vertex is the upper-right vertex at a rotation of 0.
-Vertices are ordered counter-clockwise.@return position vectors of the vertices</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Rectangle#volume">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">volume</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Volume</p><div class="fullcomment">
-      <div class="comment cmt"><p>Volume. The volume is actually equivalent to this shape's area (SiMS is in 2D)
-and is used with this shape's density to calculate its mass.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#~">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">~</span><span class="params">(<span name="b">b: <a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>)</span><span class="result">: <a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Creates a new body out of this shape and the shapes of body <code>b</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Creates a new body out of this shape and the shapes of body <code>b</code>.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#~">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">~</span><span class="params">(<span name="s">s: <a href="Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>)</span><span class="result">: <a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Creates a new body out of this shape and the shape <code>s</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Creates a new body out of this shape and the shape <code>s</code>.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.dynamics.Rectangle#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Rectangle</span><span class="params">(<span name="halfWidth">halfWidth: <span class="extype" name="scala.Double">Double</span></span>, <span name="halfHeight">halfHeight: <span class="extype" name="scala.Double">Double</span></span>, <span name="density">density: <span class="extype" name="scala.Double">Double</span></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.Shape#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Rectangle</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/RegularPolygon.html b/doc/sims/dynamics/RegularPolygon.html
deleted file mode 100644
index b0e8cc9..0000000
--- a/doc/sims/dynamics/RegularPolygon.html
+++ /dev/null
@@ -1,588 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.dynamics.RegularPolygon</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">dynamics</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>RegularPolygon</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">RegularPolygon</span><span class="params">(<span name="n">n: <span class="extype" name="scala.Int">Int</span></span>, <span name="radius">radius: <span class="extype" name="scala.Double">Double</span></span>, <span name="density">density: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result"> extends <a href="Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a> with <a href="../geometry/ConvexPolygon.html" class="extype" name="sims.geometry.ConvexPolygon">ConvexPolygon</a> with <span class="extype" name="scala.Product">Product</span></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>A regular polygon with <code>n</code> sides whose excircle has a radius <code>radius</code>.</p></div>
-      <dl class="paramcmts block"><dt class="param">n</dt><dd class="cmt"><p>nmber of sides.</p></dd><dt class="param">radius</dt><dd class="cmt"><p>radius of the excircle</p></dd><dt class="param">density</dt><dd class="cmt"><p>density of this regular polygon</p></dd></dl>
-      
-      
-      <div class="block">
-                known subclasses: <a href="../../graphyx/graphics/GraphicalRegularPolygon.html">GraphicalRegularPolygon</a>
-              </div>
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.Product">Product</li><li class="in" name="scala.Equals">Equals</li><li class="in" name="sims.geometry.ConvexPolygon">ConvexPolygon</li><li class="in" name="sims.dynamics.Shape">Shape</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.geometry.ConvexPolygon#AABB">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">AABB</span><span class="result">: <a href="../collision/AABB.html" class="extype" name="sims.collision.AABB">AABB</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns this polygon's axis aligned bounding box</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns this polygon's axis aligned bounding box.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="../geometry/ConvexPolygon.html">ConvexPolygon</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.RegularPolygon#I">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">I</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Moment of inertia for a rotation about this shape's COM</p><div class="fullcomment">
-      <div class="comment cmt"><p>Moment of inertia for a rotation about this shape's COM.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#asBody">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">asBody</span><span class="result">: <a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Creates a new body made out of tis shape</p><div class="fullcomment">
-      <div class="comment cmt"><p>Creates a new body made out of tis shape.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#body">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">body</span><span class="result">: <a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns this shape's containing body</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns this shape's containing body.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.RegularPolygon#canEqual">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">canEqual</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.Shape#collidable">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">collidable</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Flag determining this shapes ability to collide with other shapes</p><div class="fullcomment">
-      <div class="comment cmt"><p>Flag determining this shapes ability to collide with other shapes.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.geometry.ConvexPolygon#contains">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">contains</span><span class="params">(<span name="point">point: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Checks if the point <code>point</code> is contained in this polygon</p><div class="fullcomment">
-      <div class="comment cmt"><p>Checks if the point <code>point</code> is contained in this polygon.
-<p>
-A ray is created, originating from the point and following an arbitrary direction (X-Axis was chosen).
-The number of intersections between the ray and this polygon's sides (including vertices) is counted.
-The amount of intersections with vertices is substracted form the previuos number.
-If the latter number is odd, the point is contained in the polygon.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="../geometry/ConvexPolygon.html">ConvexPolygon</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.RegularPolygon#density">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">density</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Density</p><div class="fullcomment">
-      <div class="comment cmt"><p>Density. (Mass per area)</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.RegularPolygon#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#friction">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">friction</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Part of the coefficient of friction for a collision between this shape and another</p><div class="fullcomment">
-      <div class="comment cmt"><p>Part of the coefficient of friction for a collision between this shape and another.
-The coefficient of friction is calculated out of the product of this part and the other shape's part.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.RegularPolygon#halfDiags">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">halfDiags</span><span class="result">: <span class="extype" name="scala.Array">Array</span>[<a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.RegularPolygon#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#mass">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">mass</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the mass of this shape</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the mass of this shape. The mass is given by volume times density.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.RegularPolygon#n">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">n</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.Shape#pos">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">pos</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Position of this shape's COM (in world coordinates)</p><div class="fullcomment">
-      <div class="comment cmt"><p>Position of this shape's COM (in world coordinates).</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.RegularPolygon#productArity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productArity</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.RegularPolygon#productElement">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElement</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Int">Int</span></span>)</span><span class="result">: <span class="extype" name="scala.Any">Any</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productElements">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElements</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productIterator">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productIterator</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.RegularPolygon#productPrefix">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productPrefix</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.ConvexPolygon#project">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">project</span><span class="params">(<span name="axis">axis: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <a href="../geometry/Projection.html" class="extype" name="sims.geometry.Projection">Projection</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the projection of this polygon onto the line given by the directional vector <code>axis</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the projection of this polygon onto the line given by the directional vector <code>axis</code>.</p></div>
-      <dl class="paramcmts block"><dt class="param">axis</dt><dd class="cmt"><p>directional vector of the line</p></dd><dt>returns</dt><dd class="cmt"><p>projection of this polygon</p></dd></dl>
-      
-      <div class="block">
-            definition classes: <a href="../geometry/ConvexPolygon.html">ConvexPolygon</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.RegularPolygon#radius">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">radius</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.Shape#refLocalPos">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">refLocalPos</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Local position of this shape's body COM to its COM at a body rotation of zero</p><div class="fullcomment">
-      <div class="comment cmt"><p>Local position of this shape's body COM to its COM at a body rotation of zero.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#restitution">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">restitution</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Part of the coefficient of restitution for a collision between this shape and another</p><div class="fullcomment">
-      <div class="comment cmt"><p>Part of the coefficient of restitution for a collision between this shape and another.
-The coefficient of restitution is calculated out of the product of this part and the other shape's part.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#rotation">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">rotation</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Rotation of this shape about its COM</p><div class="fullcomment">
-      <div class="comment cmt"><p>Rotation of this shape about its COM.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#rotation0">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">rotation0</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Initial rotation</p><div class="fullcomment">
-      <div class="comment cmt"><p>Initial rotation. Rotation of this shape before it was added to a body.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.geometry.ConvexPolygon#sides">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">sides</span><span class="result">: <span class="extype" name="scala.Array">Array</span>[<a href="../geometry/Segment.html" class="extype" name="sims.geometry.Segment">Segment</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns all sides of this polygon</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns all sides of this polygon. The sides are ordered counter-clockwise, the first vertex of the side
-giving the side index.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="../geometry/ConvexPolygon.html">ConvexPolygon</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.RegularPolygon#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#transientShapes">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">transientShapes</span><span class="result">: <span class="extype" name="scala.collection.mutable.Set">Set</span>[<a href="Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Shapes with which this shape cannot collide</p><div class="fullcomment">
-      <div class="comment cmt"><p>Shapes with which this shape cannot collide.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#uid">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">uid</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Unique identification number</p><div class="fullcomment">
-      <div class="comment cmt"><p>Unique identification number.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.RegularPolygon#vertices">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">vertices</span><span class="result">: <span class="extype" name="scala.collection.Seq">Seq</span>[<a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns positions of all vertices of this Polygon</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns positions of all vertices of this Polygon. Vertices are ordered counter-clockwise.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.RegularPolygon#volume">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">volume</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Volume</p><div class="fullcomment">
-      <div class="comment cmt"><p>Volume. The volume is actually equivalent to this shape's area (SiMS is in 2D)
-and is used with this shape's density to calculate its mass.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#~">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">~</span><span class="params">(<span name="b">b: <a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>)</span><span class="result">: <a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Creates a new body out of this shape and the shapes of body <code>b</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Creates a new body out of this shape and the shapes of body <code>b</code>.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#~">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">~</span><span class="params">(<span name="s">s: <a href="Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>)</span><span class="result">: <a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Creates a new body out of this shape and the shape <code>s</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Creates a new body out of this shape and the shape <code>s</code>.</p></div>
-      
-      
-      <div class="block">
-            definition classes: <a href="Shape.html">Shape</a>
-          </div>
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.dynamics.RegularPolygon#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">RegularPolygon</span><span class="params">(<span name="n">n: <span class="extype" name="scala.Int">Int</span></span>, <span name="radius">radius: <span class="extype" name="scala.Double">Double</span></span>, <span name="density">density: <span class="extype" name="scala.Double">Double</span></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.Shape#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">RegularPolygon</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/Shape$.html b/doc/sims/dynamics/Shape$.html
deleted file mode 100644
index 6cc92c5..0000000
--- a/doc/sims/dynamics/Shape$.html
+++ /dev/null
@@ -1,148 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.dynamics.Shape</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="value">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">dynamics</a></p>
-
-      <div id="definition">
-        <img src="../../lib/object_big.png" />
-        <h1>Shape</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">object</span>
-      <span class="symbol">
-        <span class="name">Shape</span><span class="result"> extends AnyRef</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="scala.AnyRef#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/Shape.html b/doc/sims/dynamics/Shape.html
deleted file mode 100644
index 03db5e1..0000000
--- a/doc/sims/dynamics/Shape.html
+++ /dev/null
@@ -1,458 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.dynamics.Shape</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">dynamics</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>Shape</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Shape</span><span class="result"> extends AnyRef</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>An abstract shape.</p></div>
-      
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      <div class="block">
-                known subclasses: <a href="RegularPolygon.html">RegularPolygon</a>, <a href="Rectangle.html">Rectangle</a>, <a href="Circle.html">Circle</a>, <a href="../../graphyx/graphics/GraphicalShape.html">GraphicalShape</a>
-              </div>
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.dynamics.Shape#AABB">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">AABB</span><span class="result">: <a href="../collision/AABB.html" class="extype" name="sims.collision.AABB">AABB</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns this shape's axis aligned bounding box</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns this shape's axis aligned bounding box.</p></div>
-      
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#I">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">I</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Moment of inertia for a rotation about this shape's COM</p><div class="fullcomment">
-      <div class="comment cmt"><p>Moment of inertia for a rotation about this shape's COM.</p></div>
-      
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#asBody">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">asBody</span><span class="result">: <a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Creates a new body made out of tis shape</p><div class="fullcomment">
-      <div class="comment cmt"><p>Creates a new body made out of tis shape.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#body">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">body</span><span class="result">: <a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns this shape's containing body</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns this shape's containing body.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#collidable">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">collidable</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Flag determining this shapes ability to collide with other shapes</p><div class="fullcomment">
-      <div class="comment cmt"><p>Flag determining this shapes ability to collide with other shapes.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#contains">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">contains</span><span class="params">(<span name="point">point: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Checks if the point <code>point</code> is contained in this shape</p><div class="fullcomment">
-      <div class="comment cmt"><p>Checks if the point <code>point</code> is contained in this shape.</p></div>
-      
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#density">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">density</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Density</p><div class="fullcomment">
-      <div class="comment cmt"><p>Density. (Mass per area)</p></div>
-      
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#friction">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">friction</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Part of the coefficient of friction for a collision between this shape and another</p><div class="fullcomment">
-      <div class="comment cmt"><p>Part of the coefficient of friction for a collision between this shape and another.
-The coefficient of friction is calculated out of the product of this part and the other shape's part.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#mass">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">mass</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the mass of this shape</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the mass of this shape. The mass is given by volume times density.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#pos">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">pos</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Position of this shape's COM (in world coordinates)</p><div class="fullcomment">
-      <div class="comment cmt"><p>Position of this shape's COM (in world coordinates).</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#project">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">project</span><span class="params">(<span name="axis">axis: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <a href="../geometry/Projection.html" class="extype" name="sims.geometry.Projection">Projection</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the projection of this shape onto the line given by the directional vector <code>axis</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the projection of this shape onto the line given by the directional vector <code>axis</code>.</p></div>
-      <dl class="paramcmts block"><dt class="param">axis</dt><dd class="cmt"><p>directional vector of the line</p></dd><dt>returns</dt><dd class="cmt"><p>projection of this shape</p></dd></dl>
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#refLocalPos">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">refLocalPos</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Local position of this shape's body COM to its COM at a body rotation of zero</p><div class="fullcomment">
-      <div class="comment cmt"><p>Local position of this shape's body COM to its COM at a body rotation of zero.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#restitution">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">restitution</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Part of the coefficient of restitution for a collision between this shape and another</p><div class="fullcomment">
-      <div class="comment cmt"><p>Part of the coefficient of restitution for a collision between this shape and another.
-The coefficient of restitution is calculated out of the product of this part and the other shape's part.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#rotation">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">rotation</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Rotation of this shape about its COM</p><div class="fullcomment">
-      <div class="comment cmt"><p>Rotation of this shape about its COM.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#rotation0">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">rotation0</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Initial rotation</p><div class="fullcomment">
-      <div class="comment cmt"><p>Initial rotation. Rotation of this shape before it was added to a body.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#transientShapes">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">transientShapes</span><span class="result">: <span class="extype" name="scala.collection.mutable.Set">Set</span>[<a href="" class="extype" name="sims.dynamics.Shape">Shape</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Shapes with which this shape cannot collide</p><div class="fullcomment">
-      <div class="comment cmt"><p>Shapes with which this shape cannot collide.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#uid">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">uid</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Unique identification number</p><div class="fullcomment">
-      <div class="comment cmt"><p>Unique identification number.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#volume">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">volume</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Volume</p><div class="fullcomment">
-      <div class="comment cmt"><p>Volume. The volume is actually equivalent to this shape's area (SiMS is in 2D)
-and is used with this shape's density to calculate its mass.</p></div>
-      
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#~">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">~</span><span class="params">(<span name="b">b: <a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>)</span><span class="result">: <a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Creates a new body out of this shape and the shapes of body <code>b</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Creates a new body out of this shape and the shapes of body <code>b</code>.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.Shape#~">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">~</span><span class="params">(<span name="s">s: <a href="" class="extype" name="sims.dynamics.Shape">Shape</a></span>)</span><span class="result">: <a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Creates a new body out of this shape and the shape <code>s</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Creates a new body out of this shape and the shape <code>s</code>.</p></div>
-      
-      
-      
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.dynamics.Shape#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Shape</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/World.html b/doc/sims/dynamics/World.html
deleted file mode 100644
index 336852c..0000000
--- a/doc/sims/dynamics/World.html
+++ /dev/null
@@ -1,539 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.dynamics.World</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">dynamics</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>World</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">World</span><span class="result"> extends AnyRef</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>A world contains and simulates a system of rigid bodies and joints.</p></div>
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.dynamics.World#++=">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">++=</span><span class="params">(<span name="bs">bs: <span class="extype" name="scala.collection.Seq">Seq</span>[<a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a>]</span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Adds the given sequence of bodies to this world</p><div class="fullcomment">
-      <div class="comment cmt"><p>Adds the given sequence of bodies to this world.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#+=">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">+=</span><span class="params">(<span name="p">p: <a href="../prefabs/Prefab.html" class="extype" name="sims.prefabs.Prefab">Prefab</a></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Adds the given prefabricated system of bodies and joints to this world</p><div class="fullcomment">
-      <div class="comment cmt"><p>Adds the given prefabricated system of bodies and joints to this world.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#+=">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">+=</span><span class="params">(<span name="joint">joint: <a href="joints/Joint.html" class="extype" name="sims.dynamics.joints.Joint">Joint</a></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Adds the given joint to this world</p><div class="fullcomment">
-      <div class="comment cmt"><p>Adds the given joint to this world.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#+=">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">+=</span><span class="params">(<span name="body">body: <a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>)</span><span class="result">: <span class="extype" name="scala.collection.mutable.ArrayBuffer">ArrayBuffer</span>[<a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Adds the given body to this world</p><div class="fullcomment">
-      <div class="comment cmt"><p>Adds the given body to this world.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#--=">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">--=</span><span class="params">(<span name="bs">bs: <span class="extype" name="scala.collection.Seq">Seq</span>[<a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a>]</span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Removes the given sequence of bodies from this world</p><div class="fullcomment">
-      <div class="comment cmt"><p>Removes the given sequence of bodies from this world.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#-=">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">-=</span><span class="params">(<span name="p">p: <a href="../prefabs/Prefab.html" class="extype" name="sims.prefabs.Prefab">Prefab</a></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Removes the given prefabricated system of bodies and joints from this world</p><div class="fullcomment">
-      <div class="comment cmt"><p>Removes the given prefabricated system of bodies and joints from this world.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#-=">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">-=</span><span class="params">(<span name="joint">joint: <a href="joints/Joint.html" class="extype" name="sims.dynamics.joints.Joint">Joint</a></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Removes the given joint from this world</p><div class="fullcomment">
-      <div class="comment cmt"><p>Removes the given joint from this world.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#-=">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">-=</span><span class="params">(<span name="body">body: <a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Removes the given body from this world</p><div class="fullcomment">
-      <div class="comment cmt"><p>Removes the given body from this world.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#bodies">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">bodies</span><span class="result">: <span class="extype" name="scala.collection.mutable.ArrayBuffer">ArrayBuffer</span>[<a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Bodies contained in this world</p><div class="fullcomment">
-      <div class="comment cmt"><p>Bodies contained in this world.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#clear">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">clear</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Removes all bodies, joints and monitoring methods from this world</p><div class="fullcomment">
-      <div class="comment cmt"><p>Removes all bodies, joints and monitoring methods from this world.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#detector">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">detector</span><span class="result">: <a href="../collision/Detector.html" class="extype" name="sims.collision.Detector">Detector</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Collsion detector who manages collision detection in this world</p><div class="fullcomment">
-      <div class="comment cmt"><p>Collsion detector who manages collision detection in this world.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#enableCollisionDetection">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">enableCollisionDetection</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Flag to enable collision detection</p><div class="fullcomment">
-      <div class="comment cmt"><p>Flag to enable collision detection.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#enablePositionCorrection">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">enablePositionCorrection</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Flag to enable position correction for constraints</p><div class="fullcomment">
-      <div class="comment cmt"><p>Flag to enable position correction for constraints.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.World#gravity">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">gravity</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Gravity in this world</p><div class="fullcomment">
-      <div class="comment cmt"><p>Gravity in this world.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.World#info">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">info</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns information about this world</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns information about this world.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#iterations">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">iterations</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Number of constraint corrections per time step</p><div class="fullcomment">
-      <div class="comment cmt"><p>Number of constraint corrections per time step.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#joints">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">joints</span><span class="result">: <span class="extype" name="scala.collection.mutable.ArrayBuffer">ArrayBuffer</span>[<a href="joints/Joint.html" class="extype" name="sims.dynamics.joints.Joint">Joint</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Joints contained in this world</p><div class="fullcomment">
-      <div class="comment cmt"><p>Joints contained in this world.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#minAngularVelocity">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">minAngularVelocity</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Minimal, non-zero angular velocity</p><div class="fullcomment">
-      <div class="comment cmt"><p>Minimal, non-zero angular velocity.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#minLinearVelocity">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">minLinearVelocity</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Minimal, non-zero linear velocity</p><div class="fullcomment">
-      <div class="comment cmt"><p>Minimal, non-zero linear velocity.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#monitors">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">monitors</span><span class="result">: <span class="extype" name="scala.collection.mutable.ArrayBuffer">ArrayBuffer</span>[(<span class="extype" name="java.lang.String">String</span>, (<a href="Body.html" class="extype" name="sims.dynamics.Body">Body</a>) ⇒ <span class="extype" name="scala.Any">Any</span>)]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Monitoring methods for bodies</p><div class="fullcomment">
-      <div class="comment cmt"><p>Monitoring methods for bodies.
-<p>
-The first element of the tuple is the method's title and the second the method.
-Example usage: monitors += ("Y-Position", _.pos.y.toString)
-This will calculate all bodies - whose <code>monitor</code> field is set to
-<code>true</code> - second position components.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#overCWarning">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">overCWarning</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Warning if a body's velocity exceeds the speed of light</p><div class="fullcomment">
-      <div class="comment cmt"><p>Warning if a body's velocity exceeds the speed of light.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#postStep">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">postStep</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Initially empty method that is executed after each time step</p><div class="fullcomment">
-      <div class="comment cmt"><p>Initially empty method that is executed after each time step. This method
-may be overriden to create custom behaviour in a world.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#shapes">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">shapes</span><span class="result">: <span class="extype" name="scala.collection.mutable.ArrayBuffer">ArrayBuffer</span>[<a href="Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns all shapes of all bodies in this world</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns all shapes of all bodies in this world.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#step">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">step</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Simulates a time step of the duration <code>timeStep</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Simulates a time step of the duration <code>timeStep</code>.
-<p>
-The time step is simulated in the following phases:
-<ol>
-<li>Forces are applied to bodies.</li>
-<li>Accelerations are integrated.</li>
-<li>Velocities are corrected.</li>
-<li>Velocities are integrated.</li>
-<li>Postions are corrected.</li>
-<li>The method <code>postStep()</code> is executed.</li>
-</ol></p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#time">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">time</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Current time in this world</p><div class="fullcomment">
-      <div class="comment cmt"><p>Current time in this world.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.World#timeStep">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">timeStep</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Time intervals in which this world simulates</p><div class="fullcomment">
-      <div class="comment cmt"><p>Time intervals in which this world simulates.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.dynamics.World#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">World</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/joints/DistanceJoint.html b/doc/sims/dynamics/joints/DistanceJoint.html
deleted file mode 100644
index 27e4e5c..0000000
--- a/doc/sims/dynamics/joints/DistanceJoint.html
+++ /dev/null
@@ -1,359 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.dynamics.joints.DistanceJoint</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../../package.html">sims</a>.<a href="../package.html">dynamics</a>.<a href="package.html">joints</a></p>
-
-      <div id="definition">
-        <img src="../../../lib/class_big.png" />
-        <h1>DistanceJoint</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">DistanceJoint</span><span class="params">(<span name="node1">node1: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="anchor1">anchor1: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="node2">node2: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="anchor2">anchor2: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result"> extends <a href="Joint.html" class="extype" name="sims.dynamics.joints.Joint">Joint</a> with <span class="extype" name="scala.Product">Product</span></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>DistanceJoints keep their connection points at a constant distance.</p></div>
-      <dl class="paramcmts block"><dt class="param">node1</dt><dd class="cmt"><p>first associated body</p></dd><dt class="param">anchor1</dt><dd class="cmt"><p>first connection point</p></dd><dt class="param">node2</dt><dd class="cmt"><p>second associated body</p></dd><dt class="param">anchor2</dt><dd class="cmt"><p>second connection point</p></dd></dl>
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.Product">Product</li><li class="in" name="scala.Equals">Equals</li><li class="in" name="sims.dynamics.joints.Joint">Joint</li><li class="in" name="sims.dynamics.Constraint">Constraint</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.dynamics.joints.DistanceJoint#anchor1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">anchor1</span><span class="result">: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.DistanceJoint#anchor2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">anchor2</span><span class="result">: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.DistanceJoint#canEqual">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">canEqual</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.DistanceJoint#connection1">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">connection1</span><span class="result">: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the connection point on body one (in world coordinates)</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the connection point on body one (in world coordinates).</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.DistanceJoint#connection2">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">connection2</span><span class="result">: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the connection point on body two (in world coordinates)</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the connection point on body two (in world coordinates).</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.DistanceJoint#correctPosition">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctPosition</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Corrects the positions of this joint's associated bodies</p><div class="fullcomment">
-      <div class="comment cmt"><p>Corrects the positions of this joint's associated bodies.@param h a time interval, used for converting forces and impulses</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.DistanceJoint#correctVelocity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctVelocity</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Corrects the velocities of this joint's associated bodies</p><div class="fullcomment">
-      <div class="comment cmt"><p>Corrects the velocities of this joint's associated bodies.@param h a time interval, used for converting forces and impulses</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.DistanceJoint#distance">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">distance</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Distance between the two connection points at initialisation (the desired distance)</p><div class="fullcomment">
-      <div class="comment cmt"><p>Distance between the two connection points at initialisation (the desired distance).</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.DistanceJoint#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.DistanceJoint#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.DistanceJoint#node1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">node1</span><span class="result">: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">First body of the joint</p><div class="fullcomment">
-      <div class="comment cmt"><p>First body of the joint.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.DistanceJoint#node2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">node2</span><span class="result">: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Second body of the joint</p><div class="fullcomment">
-      <div class="comment cmt"><p>Second body of the joint.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.DistanceJoint#productArity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productArity</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.DistanceJoint#productElement">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElement</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Int">Int</span></span>)</span><span class="result">: <span class="extype" name="scala.Any">Any</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productElements">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElements</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productIterator">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productIterator</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.DistanceJoint#productPrefix">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productPrefix</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.DistanceJoint#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.DistanceJoint#v">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">v</span><span class="result">: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Relative velocity of the connection points</p><div class="fullcomment">
-      <div class="comment cmt"><p>Relative velocity of the connection points.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.DistanceJoint#x">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">x</span><span class="result">: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Relative position of the connection points</p><div class="fullcomment">
-      <div class="comment cmt"><p>Relative position of the connection points.</p></div>
-      
-      
-      
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.dynamics.joints.DistanceJoint#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">DistanceJoint</span><span class="params">(<span name="node1">node1: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="node2">node2: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.DistanceJoint#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">DistanceJoint</span><span class="params">(<span name="node1">node1: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="anchor1">anchor1: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="node2">node2: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="anchor2">anchor2: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.Joint#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">DistanceJoint</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/joints/ForceJoint.html b/doc/sims/dynamics/joints/ForceJoint.html
deleted file mode 100644
index 76bfe45..0000000
--- a/doc/sims/dynamics/joints/ForceJoint.html
+++ /dev/null
@@ -1,166 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.dynamics.joints.ForceJoint</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../../package.html">sims</a>.<a href="../package.html">dynamics</a>.<a href="package.html">joints</a></p>
-
-      <div id="definition">
-        <img src="../../../lib/trait_big.png" />
-        <h1>ForceJoint</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">trait</span>
-      <span class="symbol">
-        <span class="name">ForceJoint</span><span class="result"> extends AnyRef</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>A joint which can apply a force to its anchor bodies, thus adding or removing energy to the system.</p></div>
-      
-      
-      
-      <div class="block">
-                known subclasses: <a href="SpringJoint.html">SpringJoint</a>
-              </div>
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.dynamics.joints.ForceJoint#applyForce">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">applyForce</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Applies a force on the achor bodies</p><div class="fullcomment">
-      <div class="comment cmt"><p>Applies a force on the achor bodies.</p></div>
-      
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/joints/Joint.html b/doc/sims/dynamics/joints/Joint.html
deleted file mode 100644
index 4874434..0000000
--- a/doc/sims/dynamics/joints/Joint.html
+++ /dev/null
@@ -1,228 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.dynamics.joints.Joint</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../../package.html">sims</a>.<a href="../package.html">dynamics</a>.<a href="package.html">joints</a></p>
-
-      <div id="definition">
-        <img src="../../../lib/class_big.png" />
-        <h1>Joint</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Joint</span><span class="result"> extends <a href="../Constraint.html" class="extype" name="sims.dynamics.Constraint">Constraint</a></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>Joints constrain the movement of two bodies.
-Their implementation was inspired by Erin Catto's box2d.</p></div>
-      
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      <div class="block">
-                known subclasses: <a href="test/UnitCircleJoint.html">UnitCircleJoint</a>, <a href="test/PrismaticJoint.html">PrismaticJoint</a>, <a href="SpringJoint.html">SpringJoint</a>, <a href="RevoluteJoint.html">RevoluteJoint</a>, <a href="DistanceJoint.html">DistanceJoint</a>
-              </div>
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="sims.dynamics.Constraint">Constraint</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.dynamics.joints.Joint#correctPosition">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctPosition</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Corrects the positions of this joint's associated bodies</p><div class="fullcomment">
-      <div class="comment cmt"><p>Corrects the positions of this joint's associated bodies.@param h a time interval, used for converting forces and impulses</p></div>
-      
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.Joint#correctVelocity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctVelocity</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Corrects the velocities of this joint's associated bodies</p><div class="fullcomment">
-      <div class="comment cmt"><p>Corrects the velocities of this joint's associated bodies.@param h a time interval, used for converting forces and impulses</p></div>
-      
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.joints.Joint#node1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">node1</span><span class="result">: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">First body of the joint</p><div class="fullcomment">
-      <div class="comment cmt"><p>First body of the joint.</p></div>
-      
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.Joint#node2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">node2</span><span class="result">: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Second body of the joint</p><div class="fullcomment">
-      <div class="comment cmt"><p>Second body of the joint.</p></div>
-      
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.dynamics.joints.Joint#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Joint</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/joints/RevoluteJoint.html b/doc/sims/dynamics/joints/RevoluteJoint.html
deleted file mode 100644
index 921025a..0000000
--- a/doc/sims/dynamics/joints/RevoluteJoint.html
+++ /dev/null
@@ -1,307 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.dynamics.joints.RevoluteJoint</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../../package.html">sims</a>.<a href="../package.html">dynamics</a>.<a href="package.html">joints</a></p>
-
-      <div id="definition">
-        <img src="../../../lib/class_big.png" />
-        <h1>RevoluteJoint</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">RevoluteJoint</span><span class="params">(<span name="node1">node1: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="node2">node2: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="anchor">anchor: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result"> extends <a href="Joint.html" class="extype" name="sims.dynamics.joints.Joint">Joint</a> with <span class="extype" name="scala.Product">Product</span></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>A revolute joint that connects two bodies at a singe point. Inspired from JBox2D.
-<b>Warning:</b> there are still several bugs with revolute joints, if they are between two free
-bodies and not connected at their respective COMs.</p></div>
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.Product">Product</li><li class="in" name="scala.Equals">Equals</li><li class="in" name="sims.dynamics.joints.Joint">Joint</li><li class="in" name="sims.dynamics.Constraint">Constraint</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.dynamics.joints.RevoluteJoint#anchor">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">anchor</span><span class="result">: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.RevoluteJoint#canEqual">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">canEqual</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.RevoluteJoint#connection1">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">connection1</span><span class="result">: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.RevoluteJoint#connection2">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">connection2</span><span class="result">: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.RevoluteJoint#correctPosition">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctPosition</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Corrects the positions of this joint's associated bodies</p><div class="fullcomment">
-      <div class="comment cmt"><p>Corrects the positions of this joint's associated bodies.@param h a time interval, used for converting forces and impulses</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.RevoluteJoint#correctVelocity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctVelocity</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Corrects the velocities of this joint's associated bodies</p><div class="fullcomment">
-      <div class="comment cmt"><p>Corrects the velocities of this joint's associated bodies.@param h a time interval, used for converting forces and impulses</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.RevoluteJoint#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.RevoluteJoint#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.RevoluteJoint#node1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">node1</span><span class="result">: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">First body of the joint</p><div class="fullcomment">
-      <div class="comment cmt"><p>First body of the joint.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.RevoluteJoint#node2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">node2</span><span class="result">: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Second body of the joint</p><div class="fullcomment">
-      <div class="comment cmt"><p>Second body of the joint.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.RevoluteJoint#productArity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productArity</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.RevoluteJoint#productElement">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElement</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Int">Int</span></span>)</span><span class="result">: <span class="extype" name="scala.Any">Any</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productElements">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElements</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productIterator">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productIterator</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.RevoluteJoint#productPrefix">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productPrefix</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.RevoluteJoint#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.RevoluteJoint#v">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">v</span><span class="result">: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.RevoluteJoint#x">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">x</span><span class="result">: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.dynamics.joints.RevoluteJoint#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">RevoluteJoint</span><span class="params">(<span name="node1">node1: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="node2">node2: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="anchor">anchor: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.Joint#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">RevoluteJoint</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/joints/SpringJoint.html b/doc/sims/dynamics/joints/SpringJoint.html
deleted file mode 100644
index 699f2e0..0000000
--- a/doc/sims/dynamics/joints/SpringJoint.html
+++ /dev/null
@@ -1,419 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.dynamics.joints.SpringJoint</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../../package.html">sims</a>.<a href="../package.html">dynamics</a>.<a href="package.html">joints</a></p>
-
-      <div id="definition">
-        <img src="../../../lib/class_big.png" />
-        <h1>SpringJoint</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">SpringJoint</span><span class="params">(<span name="node1">node1: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="anchor1">anchor1: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="node2">node2: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="anchor2">anchor2: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="springConstant">springConstant: <span class="extype" name="scala.Double">Double</span></span>, <span name="initialLength">initialLength: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result"> extends <a href="Joint.html" class="extype" name="sims.dynamics.joints.Joint">Joint</a> with <a href="ForceJoint.html" class="extype" name="sims.dynamics.joints.ForceJoint">ForceJoint</a> with <span class="extype" name="scala.Product">Product</span></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>A spring obeying Hooke's law.</p></div>
-      <dl class="paramcmts block"><dt class="param">node1</dt><dd class="cmt"><p>first associated body</p></dd><dt class="param">anchor1</dt><dd class="cmt"><p>first connection point</p></dd><dt class="param">node2</dt><dd class="cmt"><p>second associated body</p></dd><dt class="param">anchor2</dt><dd class="cmt"><p>second connection point</p></dd><dt class="param">springConstant</dt><dd class="cmt"><p>spring constant</p></dd><dt class="param">initialLength</dt><dd class="cmt"><p>initial length</p></dd></dl>
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.Product">Product</li><li class="in" name="scala.Equals">Equals</li><li class="in" name="sims.dynamics.joints.ForceJoint">ForceJoint</li><li class="in" name="sims.dynamics.joints.Joint">Joint</li><li class="in" name="sims.dynamics.Constraint">Constraint</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.dynamics.joints.SpringJoint#anchor1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">anchor1</span><span class="result">: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.SpringJoint#anchor2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">anchor2</span><span class="result">: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.SpringJoint#applyForce">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">applyForce</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Applies the spring force to the connection points</p><div class="fullcomment">
-      <div class="comment cmt"><p>Applies the spring force to the connection points.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.SpringJoint#canEqual">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">canEqual</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.SpringJoint#connection1">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">connection1</span><span class="result">: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the connection point on body one (in world coordinates)</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the connection point on body one (in world coordinates).</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.SpringJoint#connection2">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">connection2</span><span class="result">: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the connection point on body two (in world coordinates)</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the connection point on body two (in world coordinates).</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.SpringJoint#correctPosition">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctPosition</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Corrects the positions of this joint's associated bodies</p><div class="fullcomment">
-      <div class="comment cmt"><p>Corrects the positions of this joint's associated bodies.@param h a time interval, used for converting forces and impulses</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.SpringJoint#correctVelocity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctVelocity</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Corrects the velocities of this joint's associated bodies</p><div class="fullcomment">
-      <div class="comment cmt"><p>Corrects the velocities of this joint's associated bodies.@param h a time interval, used for converting forces and impulses</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.SpringJoint#damping">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">damping</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Damping</p><div class="fullcomment">
-      <div class="comment cmt"><p>Damping.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.SpringJoint#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.SpringJoint#force">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">force</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the spring force</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the spring force.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.SpringJoint#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.SpringJoint#initialLength">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">initialLength</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.SpringJoint#node1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">node1</span><span class="result">: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">First body of the joint</p><div class="fullcomment">
-      <div class="comment cmt"><p>First body of the joint.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.SpringJoint#node2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">node2</span><span class="result">: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Second body of the joint</p><div class="fullcomment">
-      <div class="comment cmt"><p>Second body of the joint.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.SpringJoint#productArity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productArity</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.SpringJoint#productElement">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElement</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Int">Int</span></span>)</span><span class="result">: <span class="extype" name="scala.Any">Any</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productElements">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElements</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productIterator">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productIterator</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.SpringJoint#productPrefix">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productPrefix</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.SpringJoint#springConstant">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">springConstant</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.SpringJoint#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.SpringJoint#v">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">v</span><span class="result">: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Relative velocity of the connection points</p><div class="fullcomment">
-      <div class="comment cmt"><p>Relative velocity of the connection points.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.SpringJoint#x">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">x</span><span class="result">: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Relative position of the connection points</p><div class="fullcomment">
-      <div class="comment cmt"><p>Relative position of the connection points.</p></div>
-      
-      
-      
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.dynamics.joints.SpringJoint#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">SpringJoint</span><span class="params">(<span name="node1">node1: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="node2">node2: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="springConstant">springConstant: <span class="extype" name="scala.Double">Double</span></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.SpringJoint#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">SpringJoint</span><span class="params">(<span name="node1">node1: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="node2">node2: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="springConstant">springConstant: <span class="extype" name="scala.Double">Double</span></span>, <span name="initialLength">initialLength: <span class="extype" name="scala.Double">Double</span></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.SpringJoint#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">SpringJoint</span><span class="params">(<span name="node1">node1: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="anchor1">anchor1: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="node2">node2: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="anchor2">anchor2: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="springConstant">springConstant: <span class="extype" name="scala.Double">Double</span></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.SpringJoint#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">SpringJoint</span><span class="params">(<span name="node1">node1: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="anchor1">anchor1: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="node2">node2: <a href="../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="anchor2">anchor2: <a href="../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="springConstant">springConstant: <span class="extype" name="scala.Double">Double</span></span>, <span name="initialLength">initialLength: <span class="extype" name="scala.Double">Double</span></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.Joint#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">SpringJoint</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/joints/package.html b/doc/sims/dynamics/joints/package.html
deleted file mode 100644
index bd320c3..0000000
--- a/doc/sims/dynamics/joints/package.html
+++ /dev/null
@@ -1,105 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.dynamics.joints</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../../lib/template.js"></script>
-    
-        </head>
-        <body class="value">
-      
-      <p id="owner"><a href="../../package.html">sims</a>.<a href="../package.html">dynamics</a></p>
-
-      <div id="definition">
-        <img src="../../../lib/package_big.png" />
-        <h1>joints</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">package</span>
-      <span class="symbol">
-        <span class="name">joints</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        
-        
-        <div class="members" id="types">
-              <h3>Type Members</h3>
-              <ol><li name="sims.dynamics.joints.DistanceJoint">
-      <h4 class="signature"><a href="DistanceJoint.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">DistanceJoint</span><span class="params">(<span name="node1">node1: Body</span>, <span name="anchor1">anchor1: Vector2D</span>, <span name="node2">node2: Body</span>, <span name="anchor2">anchor2: Vector2D</span>)</span><span class="result"> extends Joint with Product</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">DistanceJoints keep their connection points at a constant distance</p>
-    </li><li name="sims.dynamics.joints.ForceJoint">
-      <h4 class="signature"><a href="ForceJoint.html">
-      <span class="kind">trait</span>
-      <span class="symbol">
-        <span class="name">ForceJoint</span><span class="result"> extends AnyRef</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">A joint which can apply a force to its anchor bodies, thus adding or removing energy to the system</p>
-    </li><li name="sims.dynamics.joints.Joint">
-      <h4 class="signature"><a href="Joint.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Joint</span><span class="result"> extends Constraint</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">Joints constrain the movement of two bodies</p>
-    </li><li name="sims.dynamics.joints.RevoluteJoint">
-      <h4 class="signature"><a href="RevoluteJoint.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">RevoluteJoint</span><span class="params">(<span name="node1">node1: Body</span>, <span name="node2">node2: Body</span>, <span name="anchor">anchor: Vector2D</span>)</span><span class="result"> extends Joint with Product</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">A revolute joint that connects two bodies at a singe point</p>
-    </li><li name="sims.dynamics.joints.SpringJoint">
-      <h4 class="signature"><a href="SpringJoint.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">SpringJoint</span><span class="params">(<span name="node1">node1: Body</span>, <span name="anchor1">anchor1: Vector2D</span>, <span name="node2">node2: Body</span>, <span name="anchor2">anchor2: Vector2D</span>, <span name="springConstant">springConstant: Double</span>, <span name="initialLength">initialLength: Double</span>)</span><span class="result"> extends Joint with ForceJoint with Product</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">A spring obeying Hooke's law</p>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.dynamics.joints.test">
-      <h4 class="signature"><a href="test/package.html">
-      <span class="kind">package</span>
-      <span class="symbol">
-        <span class="name">test</span>
-      </span>
-      </a></h4>
-      
-    </li></ol>
-            </div>
-        
-        
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/joints/test/PrismaticJoint.html b/doc/sims/dynamics/joints/test/PrismaticJoint.html
deleted file mode 100644
index 2883427..0000000
--- a/doc/sims/dynamics/joints/test/PrismaticJoint.html
+++ /dev/null
@@ -1,345 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.dynamics.joints.test.PrismaticJoint</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../../../package.html">sims</a>.<a href="../../package.html">dynamics</a>.<a href="../package.html">joints</a>.<a href="package.html">test</a></p>
-
-      <div id="definition">
-        <img src="../../../../lib/class_big.png" />
-        <h1>PrismaticJoint</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">PrismaticJoint</span><span class="params">(<span name="node1">node1: <a href="../../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="anchor1">anchor1: <a href="../../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="node2">node2: <a href="../../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="anchor2">anchor2: <a href="../../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result"> extends <a href="../Joint.html" class="extype" name="sims.dynamics.joints.Joint">Joint</a> with <span class="extype" name="scala.Product">Product</span></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.Product">Product</li><li class="in" name="scala.Equals">Equals</li><li class="in" name="sims.dynamics.joints.Joint">Joint</li><li class="in" name="sims.dynamics.Constraint">Constraint</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.dynamics.joints.test.PrismaticJoint#anchor1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">anchor1</span><span class="result">: <a href="../../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.test.PrismaticJoint#anchor2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">anchor2</span><span class="result">: <a href="../../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.test.PrismaticJoint#angle">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">angle</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.test.PrismaticJoint#canEqual">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">canEqual</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.test.PrismaticJoint#connection1">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">connection1</span><span class="result">: <a href="../../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.test.PrismaticJoint#connection2">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">connection2</span><span class="result">: <a href="../../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.test.PrismaticJoint#correctAngular">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctAngular</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.test.PrismaticJoint#correctLinear">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctLinear</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.test.PrismaticJoint#correctPosition">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctPosition</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Corrects the positions of this joint's associated bodies</p><div class="fullcomment">
-      <div class="comment cmt"><p>Corrects the positions of this joint's associated bodies.@param h a time interval, used for converting forces and impulses</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.test.PrismaticJoint#correctVelocity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctVelocity</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Corrects the velocities of this joint's associated bodies</p><div class="fullcomment">
-      <div class="comment cmt"><p>Corrects the velocities of this joint's associated bodies.@param h a time interval, used for converting forces and impulses</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.test.PrismaticJoint#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.test.PrismaticJoint#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.test.PrismaticJoint#node1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">node1</span><span class="result">: <a href="../../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">First body of the joint</p><div class="fullcomment">
-      <div class="comment cmt"><p>First body of the joint.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.test.PrismaticJoint#node2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">node2</span><span class="result">: <a href="../../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Second body of the joint</p><div class="fullcomment">
-      <div class="comment cmt"><p>Second body of the joint.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.test.PrismaticJoint#productArity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productArity</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.test.PrismaticJoint#productElement">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElement</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Int">Int</span></span>)</span><span class="result">: <span class="extype" name="scala.Any">Any</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productElements">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElements</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productIterator">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productIterator</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.test.PrismaticJoint#productPrefix">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productPrefix</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.test.PrismaticJoint#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.test.PrismaticJoint#v">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">v</span><span class="result">: <a href="../../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.test.PrismaticJoint#x">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">x</span><span class="result">: <a href="../../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.dynamics.joints.test.PrismaticJoint#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">PrismaticJoint</span><span class="params">(<span name="node1">node1: <a href="../../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="node2">node2: <a href="../../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.test.PrismaticJoint#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">PrismaticJoint</span><span class="params">(<span name="node1">node1: <a href="../../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="anchor1">anchor1: <a href="../../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="node2">node2: <a href="../../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="anchor2">anchor2: <a href="../../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.Joint#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">PrismaticJoint</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/joints/test/UnitCircleJoint.html b/doc/sims/dynamics/joints/test/UnitCircleJoint.html
deleted file mode 100644
index d8291c4..0000000
--- a/doc/sims/dynamics/joints/test/UnitCircleJoint.html
+++ /dev/null
@@ -1,247 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.dynamics.joints.test.UnitCircleJoint</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../../../package.html">sims</a>.<a href="../../package.html">dynamics</a>.<a href="../package.html">joints</a>.<a href="package.html">test</a></p>
-
-      <div id="definition">
-        <img src="../../../../lib/class_big.png" />
-        <h1>UnitCircleJoint</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">UnitCircleJoint</span><span class="result"> extends <a href="../Joint.html" class="extype" name="sims.dynamics.joints.Joint">Joint</a></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="sims.dynamics.joints.Joint">Joint</li><li class="in" name="sims.dynamics.Constraint">Constraint</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.dynamics.joints.test.UnitCircleJoint#connection">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">connection</span><span class="result">: <a href="../../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.test.UnitCircleJoint#correctPosition">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctPosition</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Corrects the positions of this joint's associated bodies</p><div class="fullcomment">
-      <div class="comment cmt"><p>Corrects the positions of this joint's associated bodies.@param h a time interval, used for converting forces and impulses</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.test.UnitCircleJoint#correctVelocity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">correctVelocity</span><span class="params">(<span name="h">h: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Corrects the velocities of this joint's associated bodies</p><div class="fullcomment">
-      <div class="comment cmt"><p>Corrects the velocities of this joint's associated bodies.@param h a time interval, used for converting forces and impulses</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.joints.test.UnitCircleJoint#node1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">node1</span><span class="result">: <a href="../../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">First body of the joint</p><div class="fullcomment">
-      <div class="comment cmt"><p>First body of the joint.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.dynamics.joints.test.UnitCircleJoint#node2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">node2</span><span class="result">: <a href="../../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Second body of the joint</p><div class="fullcomment">
-      <div class="comment cmt"><p>Second body of the joint.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.dynamics.joints.test.UnitCircleJoint#v">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">v</span><span class="result">: <a href="../../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.test.UnitCircleJoint#x">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">x</span><span class="result">: <a href="../../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.dynamics.joints.test.UnitCircleJoint#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">UnitCircleJoint</span><span class="params">(<span name="body">body: <a href="../../Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>, <span name="anchor">anchor: <a href="../../../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.dynamics.joints.Joint#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">UnitCircleJoint</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/joints/test/package.html b/doc/sims/dynamics/joints/test/package.html
deleted file mode 100644
index 43414db..0000000
--- a/doc/sims/dynamics/joints/test/package.html
+++ /dev/null
@@ -1,70 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.dynamics.joints.test</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../../../lib/template.js"></script>
-    
-        </head>
-        <body class="value">
-      
-      <p id="owner"><a href="../../../package.html">sims</a>.<a href="../../package.html">dynamics</a>.<a href="../package.html">joints</a></p>
-
-      <div id="definition">
-        <img src="../../../../lib/package_big.png" />
-        <h1>test</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">package</span>
-      <span class="symbol">
-        <span class="name">test</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        
-        
-        <div class="members" id="types">
-              <h3>Type Members</h3>
-              <ol><li name="sims.dynamics.joints.test.PrismaticJoint">
-      <h4 class="signature"><a href="PrismaticJoint.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">PrismaticJoint</span><span class="params">(<span name="node1">node1: Body</span>, <span name="anchor1">anchor1: Vector2D</span>, <span name="node2">node2: Body</span>, <span name="anchor2">anchor2: Vector2D</span>)</span><span class="result"> extends Joint with Product</span>
-      </span>
-      </a></h4>
-      
-    </li><li name="sims.dynamics.joints.test.UnitCircleJoint">
-      <h4 class="signature"><a href="UnitCircleJoint.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">UnitCircleJoint</span><span class="result"> extends Joint</span>
-      </span>
-      </a></h4>
-      
-    </li></ol>
-            </div>
-        
-        
-        
-        
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/package.html b/doc/sims/dynamics/package.html
deleted file mode 100644
index f9e3a86..0000000
--- a/doc/sims/dynamics/package.html
+++ /dev/null
@@ -1,137 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.dynamics</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="value">
-      
-      <p id="owner"><a href="../package.html">sims</a></p>
-
-      <div id="definition">
-        <img src="../../lib/package_big.png" />
-        <h1>dynamics</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">package</span>
-      <span class="symbol">
-        <span class="name">dynamics</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        
-        
-        <div class="members" id="types">
-              <h3>Type Members</h3>
-              <ol><li name="sims.dynamics.Body">
-      <h4 class="signature"><a href="Body.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Body</span><span class="result"> extends AnyRef</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">A two dimensional rigid body is made out of shapes</p>
-    </li><li name="sims.dynamics.Circle">
-      <h4 class="signature"><a href="Circle.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Circle</span><span class="params">(<span name="radius">radius: Double</span>, <span name="density">density: Double</span>)</span><span class="result"> extends Shape with Product</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">A circle</p>
-    </li><li name="sims.dynamics.Constraint">
-      <h4 class="signature"><a href="Constraint.html">
-      <span class="kind">trait</span>
-      <span class="symbol">
-        <span class="name">Constraint</span><span class="result"> extends AnyRef</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">All constraints in SiMS implement this trait</p>
-    </li><li name="sims.dynamics.Rectangle">
-      <h4 class="signature"><a href="Rectangle.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Rectangle</span><span class="params">(<span name="halfWidth">halfWidth: Double</span>, <span name="halfHeight">halfHeight: Double</span>, <span name="density">density: Double</span>)</span><span class="result"> extends Shape with ConvexPolygon with Product</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">A rectangle is a polygon</p>
-    </li><li name="sims.dynamics.RegularPolygon">
-      <h4 class="signature"><a href="RegularPolygon.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">RegularPolygon</span><span class="params">(<span name="n">n: Int</span>, <span name="radius">radius: Double</span>, <span name="density">density: Double</span>)</span><span class="result"> extends Shape with ConvexPolygon with Product</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">A regular polygon with <code>n</code> sides whose excircle has a radius <code>radius</code></p>
-    </li><li name="sims.dynamics.Shape">
-      <h4 class="signature"><a href="Shape.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Shape</span><span class="result"> extends AnyRef</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">An abstract shape</p>
-    </li><li name="sims.dynamics.World">
-      <h4 class="signature"><a href="World.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">World</span><span class="result"> extends AnyRef</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">A world contains and simulates a system of rigid bodies and joints</p>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.dynamics.Body">
-      <h4 class="signature"><a href="Body$.html">
-      <span class="kind">object</span>
-      <span class="symbol">
-        <span class="name">Body</span><span class="result"> extends AnyRef</span>
-      </span>
-      </a></h4>
-      
-    </li><li name="sims.dynamics.Shape">
-      <h4 class="signature"><a href="Shape$.html">
-      <span class="kind">object</span>
-      <span class="symbol">
-        <span class="name">Shape</span><span class="result"> extends AnyRef</span>
-      </span>
-      </a></h4>
-      
-    </li><li name="sims.dynamics.joints">
-      <h4 class="signature"><a href="joints/package.html">
-      <span class="kind">package</span>
-      <span class="symbol">
-        <span class="name">joints</span>
-      </span>
-      </a></h4>
-      
-    </li></ol>
-            </div>
-        
-        
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/geometry/ConvexPolygon.html b/doc/sims/geometry/ConvexPolygon.html
deleted file mode 100644
index e3cdc96..0000000
--- a/doc/sims/geometry/ConvexPolygon.html
+++ /dev/null
@@ -1,228 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.geometry.ConvexPolygon</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">geometry</a></p>
-
-      <div id="definition">
-        <img src="../../lib/trait_big.png" />
-        <h1>ConvexPolygon</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">trait</span>
-      <span class="symbol">
-        <span class="name">ConvexPolygon</span><span class="result"> extends AnyRef</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>Common properties of all convex polygons.</p></div>
-      
-      
-      
-      <div class="block">
-                known subclasses: <a href="../dynamics/RegularPolygon.html">RegularPolygon</a>, <a href="../dynamics/Rectangle.html">Rectangle</a>
-              </div>
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.geometry.ConvexPolygon#AABB">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">AABB</span><span class="result">: <a href="../collision/AABB.html" class="extype" name="sims.collision.AABB">AABB</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns this polygon's axis aligned bounding box</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns this polygon's axis aligned bounding box.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.ConvexPolygon#contains">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">contains</span><span class="params">(<span name="point">point: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Checks if the point <code>point</code> is contained in this polygon</p><div class="fullcomment">
-      <div class="comment cmt"><p>Checks if the point <code>point</code> is contained in this polygon.
-<p>
-A ray is created, originating from the point and following an arbitrary direction (X-Axis was chosen).
-The number of intersections between the ray and this polygon's sides (including vertices) is counted.
-The amount of intersections with vertices is substracted form the previuos number.
-If the latter number is odd, the point is contained in the polygon.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.geometry.ConvexPolygon#project">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">project</span><span class="params">(<span name="axis">axis: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <a href="Projection.html" class="extype" name="sims.geometry.Projection">Projection</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the projection of this polygon onto the line given by the directional vector <code>axis</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the projection of this polygon onto the line given by the directional vector <code>axis</code>.</p></div>
-      <dl class="paramcmts block"><dt class="param">axis</dt><dd class="cmt"><p>directional vector of the line</p></dd><dt>returns</dt><dd class="cmt"><p>projection of this polygon</p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.ConvexPolygon#sides">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">sides</span><span class="result">: <span class="extype" name="scala.Array">Array</span>[<a href="Segment.html" class="extype" name="sims.geometry.Segment">Segment</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns all sides of this polygon</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns all sides of this polygon. The sides are ordered counter-clockwise, the first vertex of the side
-giving the side index.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.geometry.ConvexPolygon#vertices">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">vertices</span><span class="result">: <span class="extype" name="scala.collection.Seq">Seq</span>[<a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns positions of all vertices of this Polygon</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns positions of all vertices of this Polygon. Vertices are ordered counter-clockwise.</p></div>
-      
-      <div class="block">
-            attributes: abstract 
-          </div>
-      
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/geometry/Projection.html b/doc/sims/geometry/Projection.html
deleted file mode 100644
index 7c180ac..0000000
--- a/doc/sims/geometry/Projection.html
+++ /dev/null
@@ -1,263 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.geometry.Projection</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">geometry</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>Projection</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Projection</span><span class="params">(<span name="axis">axis: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="lower">lower: <span class="extype" name="scala.Double">Double</span></span>, <span name="upper">upper: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result"> extends <span class="extype" name="scala.Product">Product</span></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>Projection on an axis.
-<p>
-Projections are commonly used in SiMS for collision detection.</p></div>
-      <dl class="paramcmts block"><dt class="param">axis</dt><dd class="cmt"><p>directional vector of the axis of the projection</p></dd><dt class="param">lower</dt><dd class="cmt"><p>lower value of the projection</p></dd><dt class="param">upper</dt><dd class="cmt"><p>upper value of the projection</p></dd></dl>
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.Product">Product</li><li class="in" name="scala.Equals">Equals</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.geometry.Projection#axis">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">axis</span><span class="result">: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Projection#canEqual">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">canEqual</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Projection#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Projection#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Projection#lower">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">lower</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Projection#overlap">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">overlap</span><span class="params">(<span name="other">other: <a href="" class="extype" name="sims.geometry.Projection">Projection</a></span>)</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the overlap between this projection and another projection <code>other</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the overlap between this projection and another projection <code>other</code>.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Projection#overlaps">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">overlaps</span><span class="params">(<span name="other">other: <a href="" class="extype" name="sims.geometry.Projection">Projection</a></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Checks this projection for overlap with another projection <code>other</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Checks this projection for overlap with another projection <code>other</code>.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Projection#productArity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productArity</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Projection#productElement">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElement</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Int">Int</span></span>)</span><span class="result">: <span class="extype" name="scala.Any">Any</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productElements">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElements</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productIterator">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productIterator</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Projection#productPrefix">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productPrefix</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Projection#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Projection#upper">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">upper</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.geometry.Projection#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Projection</span><span class="params">(<span name="axis">axis: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="lower">lower: <span class="extype" name="scala.Double">Double</span></span>, <span name="upper">upper: <span class="extype" name="scala.Double">Double</span></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Projection</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/geometry/Ray.html b/doc/sims/geometry/Ray.html
deleted file mode 100644
index d2a8ec8..0000000
--- a/doc/sims/geometry/Ray.html
+++ /dev/null
@@ -1,253 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.geometry.Ray</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">geometry</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>Ray</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Ray</span><span class="params">(<span name="point">point: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="direction">direction: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result"> extends <span class="extype" name="scala.Product">Product</span></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>A ray.</p></div>
-      <dl class="paramcmts block"><dt class="param">point</dt><dd class="cmt"><p>a point on the ray</p></dd><dt class="param">direction</dt><dd class="cmt"><p>this ray's directional vector</p></dd></dl>
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.Product">Product</li><li class="in" name="scala.Equals">Equals</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.geometry.Ray#canEqual">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">canEqual</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Ray#contains">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">contains</span><span class="params">(<span name="p">p: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Checks if this ray contains the point <code>p</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Checks if this ray contains the point <code>p</code>.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Ray#direction">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">direction</span><span class="result">: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Ray#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Ray#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Ray#intersects">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">intersects</span><span class="params">(<span name="s">s: <a href="Segment.html" class="extype" name="sims.geometry.Segment">Segment</a></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Checks this ray and the given segment for intersection</p><div class="fullcomment">
-      <div class="comment cmt"><p>Checks this ray and the given segment for intersection.</p></div>
-      <dl class="paramcmts block"><dt class="param">s</dt><dd class="cmt"><p>the segment to test for intersection</p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Ray#point">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">point</span><span class="result">: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Ray#productArity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productArity</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Ray#productElement">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElement</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Int">Int</span></span>)</span><span class="result">: <span class="extype" name="scala.Any">Any</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productElements">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElements</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productIterator">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productIterator</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Ray#productPrefix">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productPrefix</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Ray#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.geometry.Ray#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Ray</span><span class="params">(<span name="point">point: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="direction">direction: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Ray</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/geometry/Segment.html b/doc/sims/geometry/Segment.html
deleted file mode 100644
index 2d79999..0000000
--- a/doc/sims/geometry/Segment.html
+++ /dev/null
@@ -1,317 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.geometry.Segment</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">geometry</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>Segment</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Segment</span><span class="params">(<span name="vertex1">vertex1: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="vertex2">vertex2: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result"> extends <span class="extype" name="scala.Product">Product</span></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>A segment is given by its vertices.</p></div>
-      <dl class="paramcmts block"><dt class="param">vertex1</dt><dd class="cmt"><p>position vector of the first vertex</p></dd><dt class="param">vertex2</dt><dd class="cmt"><p>position vector of the second vertex</p></dd></dl>
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.Product">Product</li><li class="in" name="scala.Equals">Equals</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.geometry.Segment#canEqual">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">canEqual</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Segment#clipToSegment">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">clipToSegment</span><span class="params">(<span name="s">s: <a href="" class="extype" name="sims.geometry.Segment">Segment</a></span>)</span><span class="result">: <span class="extype" name="scala.Option">Option</span>[<a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Segment#d">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">d</span><span class="result">: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Vector from <code>vertex1</code> to <code>vertex2</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Vector from <code>vertex1</code> to <code>vertex2</code>.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Segment#d0">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">d0</span><span class="result">: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Unit directional vector</p><div class="fullcomment">
-      <div class="comment cmt"><p>Unit directional vector.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Segment#distance">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">distance</span><span class="params">(<span name="point">point: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Smallest distance between this segment and the point <code>point</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Smallest distance between this segment and the point <code>point</code>.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Segment#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Segment#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Segment#length">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">length</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Length of this segment</p><div class="fullcomment">
-      <div class="comment cmt"><p>Length of this segment.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Segment#n">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">n</span><span class="result">: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Right normal vector</p><div class="fullcomment">
-      <div class="comment cmt"><p>Right normal vector.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Segment#n0">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">n0</span><span class="result">: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Right normal unit vector</p><div class="fullcomment">
-      <div class="comment cmt"><p>Right normal unit vector.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Segment#productArity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productArity</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Segment#productElement">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElement</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Int">Int</span></span>)</span><span class="result">: <span class="extype" name="scala.Any">Any</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productElements">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElements</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productIterator">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productIterator</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Segment#productPrefix">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productPrefix</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Segment#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Segment#vertex1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">vertex1</span><span class="result">: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Segment#vertex2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">vertex2</span><span class="result">: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.geometry.Segment#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Segment</span><span class="params">(<span name="vertex1">vertex1: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="vertex2">vertex2: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Segment</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/geometry/Vector2D$.html b/doc/sims/geometry/Vector2D$.html
deleted file mode 100644
index 52ef68b..0000000
--- a/doc/sims/geometry/Vector2D$.html
+++ /dev/null
@@ -1,190 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.geometry.Vector2D</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="value">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">geometry</a></p>
-
-      <div id="definition">
-        <img src="../../lib/object_big.png" />
-        <h1>Vector2D</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">object</span>
-      <span class="symbol">
-        <span class="name">Vector2D</span><span class="result"> extends AnyRef</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>Contains special vectors.</p></div>
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.geometry.Vector2D#Null">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">Null</span><span class="result">: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Null vector</p><div class="fullcomment">
-      <div class="comment cmt"><p>Null vector.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.geometry.Vector2D#i">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">i</span><span class="result">: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Horizontal unit vector</p><div class="fullcomment">
-      <div class="comment cmt"><p>Horizontal unit vector. (1,0)</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Vector2D#j">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">j</span><span class="result">: <a href="Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Vertical unit vector</p><div class="fullcomment">
-      <div class="comment cmt"><p>Vertical unit vector. (0,1)</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="scala.AnyRef#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/geometry/Vector2D.html b/doc/sims/geometry/Vector2D.html
deleted file mode 100644
index 990b144..0000000
--- a/doc/sims/geometry/Vector2D.html
+++ /dev/null
@@ -1,435 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.geometry.Vector2D</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">geometry</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>Vector2D</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Vector2D</span><span class="params">(<span name="x">x: <span class="extype" name="scala.Double">Double</span></span>, <span name="y">y: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result"> extends <span class="extype" name="scala.Product">Product</span></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>A 2D vector.</p></div>
-      <dl class="paramcmts block"><dt class="param">x</dt><dd class="cmt"><p>1st component</p></dd><dt class="param">y</dt><dd class="cmt"><p>2nd component</p></dd></dl>
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.Product">Product</li><li class="in" name="scala.Equals">Equals</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.geometry.Vector2D#*">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">*</span><span class="params">(<span name="n">n: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <a href="" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Scalar multiplication</p><div class="fullcomment">
-      <div class="comment cmt"><p>Scalar multiplication.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Vector2D#+">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">+</span><span class="params">(<span name="v">v: <a href="" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <a href="" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Vector addition</p><div class="fullcomment">
-      <div class="comment cmt"><p>Vector addition.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Vector2D#-">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">-</span><span class="params">(<span name="v">v: <a href="" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <a href="" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Vector substraction</p><div class="fullcomment">
-      <div class="comment cmt"><p>Vector substraction.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Vector2D#/">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">/</span><span class="params">(<span name="n">n: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <a href="" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Scalar division</p><div class="fullcomment">
-      <div class="comment cmt"><p>Scalar division.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Vector2D#canEqual">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">canEqual</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Vector2D#components">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">components</span><span class="result">: <span class="extype" name="scala.collection.immutable.List">List</span>[<span class="extype" name="scala.Double">Double</span>]</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a list of this vector's components</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a list of this vector's components.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Vector2D#cross">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">cross</span><span class="params">(<span name="v">v: <a href="" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Cross product</p><div class="fullcomment">
-      <div class="comment cmt"><p>Cross product. Length only because in 2D. The direction would be given by the x3-axis.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Vector2D#dot">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">dot</span><span class="params">(<span name="v">v: <a href="" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Dot product</p><div class="fullcomment">
-      <div class="comment cmt"><p>Dot product.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Vector2D#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Vector2D#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Vector2D#isNull">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">isNull</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Checks if this vector is the null vector</p><div class="fullcomment">
-      <div class="comment cmt"><p>Checks if this vector is the null vector.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Vector2D#leftNormal">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">leftNormal</span><span class="result">: <a href="" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Left normal vector</p><div class="fullcomment">
-      <div class="comment cmt"><p>Left normal vector. (-y, x)</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Vector2D#length">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">length</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Norm or length of this vector</p><div class="fullcomment">
-      <div class="comment cmt"><p>Norm or length of this vector.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Vector2D#productArity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productArity</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Vector2D#productElement">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElement</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Int">Int</span></span>)</span><span class="result">: <span class="extype" name="scala.Any">Any</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productElements">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElements</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productIterator">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productIterator</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Vector2D#productPrefix">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productPrefix</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Vector2D#project">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">project</span><span class="params">(<span name="v">v: <a href="" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <a href="" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the projection of this vector onto the vector <code>v</code></p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the projection of this vector onto the vector <code>v</code>.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Vector2D#rightNormal">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">rightNormal</span><span class="result">: <a href="" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Right normal vector</p><div class="fullcomment">
-      <div class="comment cmt"><p>Right normal vector. (y, -x)</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Vector2D#rotate">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">rotate</span><span class="params">(<span name="angle">angle: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <a href="" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a rotation of this vector by <code>angle</code> radian</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a rotation of this vector by <code>angle</code> radian.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Vector2D#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Vector2D#unary_-">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">unary_-</span><span class="result">: <a href="" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Unary minus</p><div class="fullcomment">
-      <div class="comment cmt"><p>Unary minus.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Vector2D#unit">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">unit</span><span class="result">: <a href="" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Unit vector</p><div class="fullcomment">
-      <div class="comment cmt"><p>Unit vector.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.geometry.Vector2D#x">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">x</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.geometry.Vector2D#y">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">y</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.geometry.Vector2D#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Vector2D</span><span class="params">(<span name="x">x: <span class="extype" name="scala.Double">Double</span></span>, <span name="y">y: <span class="extype" name="scala.Double">Double</span></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Vector2D</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/geometry/package.html b/doc/sims/geometry/package.html
deleted file mode 100644
index 7ae3ade..0000000
--- a/doc/sims/geometry/package.html
+++ /dev/null
@@ -1,105 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.geometry</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="value">
-      
-      <p id="owner"><a href="../package.html">sims</a></p>
-
-      <div id="definition">
-        <img src="../../lib/package_big.png" />
-        <h1>geometry</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">package</span>
-      <span class="symbol">
-        <span class="name">geometry</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        
-        
-        <div class="members" id="types">
-              <h3>Type Members</h3>
-              <ol><li name="sims.geometry.ConvexPolygon">
-      <h4 class="signature"><a href="ConvexPolygon.html">
-      <span class="kind">trait</span>
-      <span class="symbol">
-        <span class="name">ConvexPolygon</span><span class="result"> extends AnyRef</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">Common properties of all convex polygons</p>
-    </li><li name="sims.geometry.Projection">
-      <h4 class="signature"><a href="Projection.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Projection</span><span class="params">(<span name="axis">axis: Vector2D</span>, <span name="lower">lower: Double</span>, <span name="upper">upper: Double</span>)</span><span class="result"> extends Product</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">Projection on an axis</p>
-    </li><li name="sims.geometry.Ray">
-      <h4 class="signature"><a href="Ray.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Ray</span><span class="params">(<span name="point">point: Vector2D</span>, <span name="direction">direction: Vector2D</span>)</span><span class="result"> extends Product</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">A ray</p>
-    </li><li name="sims.geometry.Segment">
-      <h4 class="signature"><a href="Segment.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Segment</span><span class="params">(<span name="vertex1">vertex1: Vector2D</span>, <span name="vertex2">vertex2: Vector2D</span>)</span><span class="result"> extends Product</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">A segment is given by its vertices</p>
-    </li><li name="sims.geometry.Vector2D">
-      <h4 class="signature"><a href="Vector2D.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Vector2D</span><span class="params">(<span name="x">x: Double</span>, <span name="y">y: Double</span>)</span><span class="result"> extends Product</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">A 2D vector</p>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.geometry.Vector2D">
-      <h4 class="signature"><a href="Vector2D$.html">
-      <span class="kind">object</span>
-      <span class="symbol">
-        <span class="name">Vector2D</span><span class="result"> extends AnyRef</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">Contains special vectors</p>
-    </li></ol>
-            </div>
-        
-        
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/math/Matrix22$.html b/doc/sims/math/Matrix22$.html
deleted file mode 100644
index 59a9e6b..0000000
--- a/doc/sims/math/Matrix22$.html
+++ /dev/null
@@ -1,156 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.math.Matrix22</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="value">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">math</a></p>
-
-      <div id="definition">
-        <img src="../../lib/object_big.png" />
-        <h1>Matrix22</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">object</span>
-      <span class="symbol">
-        <span class="name">Matrix22</span><span class="result"> extends AnyRef</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.math.Matrix22#apply">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">apply</span><span class="params">(<span name="c1">c1: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="c2">c2: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <a href="Matrix22.html" class="extype" name="sims.math.Matrix22">Matrix22</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/math/Matrix22.html b/doc/sims/math/Matrix22.html
deleted file mode 100644
index e3fc756..0000000
--- a/doc/sims/math/Matrix22.html
+++ /dev/null
@@ -1,339 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.math.Matrix22</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">math</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>Matrix22</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Matrix22</span><span class="params">(<span name="c11">c11: <span class="extype" name="scala.Double">Double</span></span>, <span name="c12">c12: <span class="extype" name="scala.Double">Double</span></span>, <span name="c21">c21: <span class="extype" name="scala.Double">Double</span></span>, <span name="c22">c22: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result"> extends <span class="extype" name="scala.Product">Product</span></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>A 2x2 matrix.</p></div>
-      <dl class="paramcmts block"><dt class="param">c11</dt><dd class="cmt"><p>component 1,1</p></dd><dt class="param">c12</dt><dd class="cmt"><p>component 1,2</p></dd><dt class="param">c21</dt><dd class="cmt"><p>component 2,1</p></dd><dt class="param">c22</dt><dd class="cmt"><p>component 2,2</p></dd></dl>
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.Product">Product</li><li class="in" name="scala.Equals">Equals</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.math.Matrix22#*">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">*</span><span class="params">(<span name="v">v: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Multiplikation with a 2D vector</p><div class="fullcomment">
-      <div class="comment cmt"><p>Multiplikation with a 2D vector.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.math.Matrix22#*">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">*</span><span class="params">(<span name="m">m: <a href="" class="extype" name="sims.math.Matrix22">Matrix22</a></span>)</span><span class="result">: <a href="" class="extype" name="sims.math.Matrix22">Matrix22</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Matrix multiplication</p><div class="fullcomment">
-      <div class="comment cmt"><p>Matrix multiplication.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.math.Matrix22#*">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">*</span><span class="params">(<span name="n">n: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <a href="" class="extype" name="sims.math.Matrix22">Matrix22</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Scalar multiplication</p><div class="fullcomment">
-      <div class="comment cmt"><p>Scalar multiplication.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.math.Matrix22#+">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">+</span><span class="params">(<span name="m">m: <a href="" class="extype" name="sims.math.Matrix22">Matrix22</a></span>)</span><span class="result">: <a href="" class="extype" name="sims.math.Matrix22">Matrix22</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Addition</p><div class="fullcomment">
-      <div class="comment cmt"><p>Addition.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.math.Matrix22#c11">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">c11</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.math.Matrix22#c12">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">c12</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.math.Matrix22#c21">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">c21</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.math.Matrix22#c22">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">c22</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.math.Matrix22#canEqual">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">canEqual</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.math.Matrix22#det">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">det</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Determinant of this matrix</p><div class="fullcomment">
-      <div class="comment cmt"><p>Determinant of this matrix.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.math.Matrix22#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.math.Matrix22#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.math.Matrix22#invert">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">invert</span><span class="result">: <a href="" class="extype" name="sims.math.Matrix22">Matrix22</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Inverse</p><div class="fullcomment">
-      <div class="comment cmt"><p>Inverse.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.math.Matrix22#productArity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productArity</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.math.Matrix22#productElement">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElement</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Int">Int</span></span>)</span><span class="result">: <span class="extype" name="scala.Any">Any</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productElements">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElements</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productIterator">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productIterator</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.math.Matrix22#productPrefix">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productPrefix</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.math.Matrix22#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.math.Matrix22#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Matrix22</span><span class="params">(<span name="c1">c1: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>, <span name="c2">c2: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">A 2x2 matrix can be created with two 2D vectors</p><div class="fullcomment">
-      <div class="comment cmt"><p>A 2x2 matrix can be created with two 2D vectors. In this case, each column is represented by a vector.</p></div>
-      <dl class="paramcmts block"><dt class="param">c1</dt><dd class="cmt"><p>first column</p></dd><dt class="param">c2</dt><dd class="cmt"><p>second column</p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.math.Matrix22#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Matrix22</span><span class="params">(<span name="c11">c11: <span class="extype" name="scala.Double">Double</span></span>, <span name="c12">c12: <span class="extype" name="scala.Double">Double</span></span>, <span name="c21">c21: <span class="extype" name="scala.Double">Double</span></span>, <span name="c22">c22: <span class="extype" name="scala.Double">Double</span></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Matrix22</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
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-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.math</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="value">
-      
-      <p id="owner"><a href="../package.html">sims</a></p>
-
-      <div id="definition">
-        <img src="../../lib/package_big.png" />
-        <h1>math</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">package</span>
-      <span class="symbol">
-        <span class="name">math</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        
-        
-        <div class="members" id="types">
-              <h3>Type Members</h3>
-              <ol><li name="sims.math.Matrix22">
-      <h4 class="signature"><a href="Matrix22.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Matrix22</span><span class="params">(<span name="c11">c11: Double</span>, <span name="c12">c12: Double</span>, <span name="c21">c21: Double</span>, <span name="c22">c22: Double</span>)</span><span class="result"> extends Product</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">A 2x2 matrix</p>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.math.Matrix22">
-      <h4 class="signature"><a href="Matrix22$.html">
-      <span class="kind">object</span>
-      <span class="symbol">
-        <span class="name">Matrix22</span><span class="result"> extends AnyRef</span>
-      </span>
-      </a></h4>
-      
-    </li></ol>
-            </div>
-        
-        
-        
-      </div>
-      
-    </body>
-      </html>
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-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../lib/template.js"></script>
-    
-        </head>
-        <body class="value">
-      
-      
-
-      <div id="definition">
-        <img src="../lib/package_big.png" />
-        <h1>sims</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">package</span>
-      <span class="symbol">
-        <span class="name">sims</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.collision">
-      <h4 class="signature"><a href="collision/package.html">
-      <span class="kind">package</span>
-      <span class="symbol">
-        <span class="name">collision</span>
-      </span>
-      </a></h4>
-      
-    </li><li name="sims.dynamics">
-      <h4 class="signature"><a href="dynamics/package.html">
-      <span class="kind">package</span>
-      <span class="symbol">
-        <span class="name">dynamics</span>
-      </span>
-      </a></h4>
-      
-    </li><li name="sims.geometry">
-      <h4 class="signature"><a href="geometry/package.html">
-      <span class="kind">package</span>
-      <span class="symbol">
-        <span class="name">geometry</span>
-      </span>
-      </a></h4>
-      
-    </li><li name="sims.math">
-      <h4 class="signature"><a href="math/package.html">
-      <span class="kind">package</span>
-      <span class="symbol">
-        <span class="name">math</span>
-      </span>
-      </a></h4>
-      
-    </li><li name="sims.prefabs">
-      <h4 class="signature"><a href="prefabs/package.html">
-      <span class="kind">package</span>
-      <span class="symbol">
-        <span class="name">prefabs</span>
-      </span>
-      </a></h4>
-      
-    </li><li name="sims.util">
-      <h4 class="signature"><a href="util/package.html">
-      <span class="kind">package</span>
-      <span class="symbol">
-        <span class="name">util</span>
-      </span>
-      </a></h4>
-      
-    </li></ol>
-            </div>
-        
-        
-        
-      </div>
-      
-    </body>
-      </html>
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-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.prefabs.Net</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">prefabs</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>Net</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Net</span><span class="result"> extends <a href="Prefab.html" class="extype" name="sims.prefabs.Prefab">Prefab</a></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="sims.prefabs.Prefab">Prefab</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.prefabs.Net#bodies">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">bodies</span><span class="result">: <span class="extype" name="scala.collection.immutable.List">List</span>[<a href="../dynamics/Body.html" class="extype" name="sims.dynamics.Body">Body</a>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.prefabs.Net#joints">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">joints</span><span class="result">: <span class="extype" name="scala.collection.immutable.List">List</span>[<a href="../dynamics/joints/DistanceJoint.html" class="extype" name="sims.dynamics.joints.DistanceJoint">DistanceJoint</a>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Net#nodeDensity">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">nodeDensity</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Net#nodeDistance">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">nodeDistance</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Net#nodeRadius">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">nodeRadius</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Net#springConstant">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">springConstant</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Net#springDamping">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">springDamping</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.prefabs.Net#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Net</span><span class="params">(<span name="width">width: <span class="extype" name="scala.Int">Int</span></span>, <span name="height">height: <span class="extype" name="scala.Int">Int</span></span>, <span name="initPos">initPos: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Net</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/prefabs/Prefab.html b/doc/sims/prefabs/Prefab.html
deleted file mode 100644
index b2b8a23..0000000
--- a/doc/sims/prefabs/Prefab.html
+++ /dev/null
@@ -1,166 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.prefabs.Prefab</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">prefabs</a></p>
-
-      <div id="definition">
-        <img src="../../lib/trait_big.png" />
-        <h1>Prefab</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">trait</span>
-      <span class="symbol">
-        <span class="name">Prefab</span><span class="result"> extends AnyRef</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      
-      
-      
-      
-      <div class="block">
-                known subclasses: <a href="Ragdoll.html">Ragdoll</a>, <a href="Pylon.html">Pylon</a>, <a href="Net.html">Net</a>, <a href="../../graphyx/tests/Carriage$$Car.html">Car</a>
-              </div>
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.prefabs.Prefab#bodies">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">bodies</span><span class="result">: <span class="extype" name="scala.collection.Iterable">Iterable</span>[<a href="../dynamics/Body.html" class="extype" name="sims.dynamics.Body">Body</a>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.prefabs.Prefab#joints">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">joints</span><span class="result">: <span class="extype" name="scala.collection.Iterable">Iterable</span>[<a href="../dynamics/joints/Joint.html" class="extype" name="sims.dynamics.joints.Joint">Joint</a>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/prefabs/Pylon.html b/doc/sims/prefabs/Pylon.html
deleted file mode 100644
index 1715c04..0000000
--- a/doc/sims/prefabs/Pylon.html
+++ /dev/null
@@ -1,231 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.prefabs.Pylon</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">prefabs</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>Pylon</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Pylon</span><span class="result"> extends <a href="Prefab.html" class="extype" name="sims.prefabs.Prefab">Prefab</a></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="sims.prefabs.Prefab">Prefab</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.prefabs.Pylon#beamHeight">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">beamHeight</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Pylon#beamNumber">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">beamNumber</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Pylon#beamWidth">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">beamWidth</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Pylon#beams">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">beams</span><span class="result">: <span class="extype" name="scala.collection.immutable.List">List</span>[<a href="../dynamics/joints/DistanceJoint.html" class="extype" name="sims.dynamics.joints.DistanceJoint">DistanceJoint</a>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Pylon#bodies">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">bodies</span><span class="result">: <span class="extype" name="scala.collection.immutable.List">List</span>[<a href="../dynamics/Body.html" class="extype" name="sims.dynamics.Body">Body</a>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.prefabs.Pylon#joints">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">joints</span><span class="result">: <span class="extype" name="scala.collection.immutable.List">List</span>[<a href="../dynamics/joints/DistanceJoint.html" class="extype" name="sims.dynamics.joints.DistanceJoint">DistanceJoint</a>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Pylon#nodeDensity">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">nodeDensity</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Pylon#nodes">
-      <h4 class="signature">
-      <span class="kind">var</span>
-      <span class="symbol">
-        <span class="name">nodes</span><span class="result">: <span class="extype" name="scala.collection.immutable.List">List</span>[<a href="../dynamics/Body.html" class="extype" name="sims.dynamics.Body">Body</a>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Pylon#position">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">position</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.prefabs.Pylon#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Pylon</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/prefabs/Ragdoll.html b/doc/sims/prefabs/Ragdoll.html
deleted file mode 100644
index fe09221..0000000
--- a/doc/sims/prefabs/Ragdoll.html
+++ /dev/null
@@ -1,303 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.prefabs.Ragdoll</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">prefabs</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>Ragdoll</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Ragdoll</span><span class="result"> extends <a href="Prefab.html" class="extype" name="sims.prefabs.Prefab">Prefab</a></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="sims.prefabs.Prefab">Prefab</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.prefabs.Ragdoll#bodies">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">bodies</span><span class="result">: <span class="extype" name="scala.collection.immutable.List">List</span>[<a href="../dynamics/Body.html" class="extype" name="sims.dynamics.Body">Body</a>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.prefabs.Ragdoll#foot1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">foot1</span><span class="result">: <a href="../dynamics/Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Ragdoll#foot2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">foot2</span><span class="result">: <a href="../dynamics/Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Ragdoll#forearm1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">forearm1</span><span class="result">: <a href="../dynamics/Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Ragdoll#forearm2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">forearm2</span><span class="result">: <a href="../dynamics/Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Ragdoll#hand1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">hand1</span><span class="result">: <a href="../dynamics/Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Ragdoll#hand2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">hand2</span><span class="result">: <a href="../dynamics/Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.prefabs.Ragdoll#headTorso">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">headTorso</span><span class="result">: <a href="../dynamics/Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Ragdoll#joints">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">joints</span><span class="result">: <span class="extype" name="scala.collection.immutable.Nil">Nil</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Ragdoll#shoulder1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">shoulder1</span><span class="result">: <a href="../dynamics/joints/RevoluteJoint.html" class="extype" name="sims.dynamics.joints.RevoluteJoint">RevoluteJoint</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Ragdoll#shoulder2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">shoulder2</span><span class="result">: <a href="../dynamics/joints/RevoluteJoint.html" class="extype" name="sims.dynamics.joints.RevoluteJoint">RevoluteJoint</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Ragdoll#thigh1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">thigh1</span><span class="result">: <a href="../dynamics/Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Ragdoll#thigh2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">thigh2</span><span class="result">: <a href="../dynamics/Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Ragdoll#tibia1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">tibia1</span><span class="result">: <a href="../dynamics/Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Ragdoll#tibia2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">tibia2</span><span class="result">: <a href="../dynamics/Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.prefabs.Ragdoll#upperArm1">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">upperArm1</span><span class="result">: <a href="../dynamics/Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.prefabs.Ragdoll#upperArm2">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">upperArm2</span><span class="result">: <a href="../dynamics/Body.html" class="extype" name="sims.dynamics.Body">Body</a></span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.prefabs.Ragdoll#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Ragdoll</span><span class="params">(<span name="position">position: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Ragdoll</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/prefabs/package.html b/doc/sims/prefabs/package.html
deleted file mode 100644
index 78b76e7..0000000
--- a/doc/sims/prefabs/package.html
+++ /dev/null
@@ -1,86 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.prefabs</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="value">
-      
-      <p id="owner"><a href="../package.html">sims</a></p>
-
-      <div id="definition">
-        <img src="../../lib/package_big.png" />
-        <h1>prefabs</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">package</span>
-      <span class="symbol">
-        <span class="name">prefabs</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        
-        
-        <div class="members" id="types">
-              <h3>Type Members</h3>
-              <ol><li name="sims.prefabs.Net">
-      <h4 class="signature"><a href="Net.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Net</span><span class="result"> extends Prefab</span>
-      </span>
-      </a></h4>
-      
-    </li><li name="sims.prefabs.Prefab">
-      <h4 class="signature"><a href="Prefab.html">
-      <span class="kind">trait</span>
-      <span class="symbol">
-        <span class="name">Prefab</span><span class="result"> extends AnyRef</span>
-      </span>
-      </a></h4>
-      
-    </li><li name="sims.prefabs.Pylon">
-      <h4 class="signature"><a href="Pylon.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Pylon</span><span class="result"> extends Prefab</span>
-      </span>
-      </a></h4>
-      
-    </li><li name="sims.prefabs.Ragdoll">
-      <h4 class="signature"><a href="Ragdoll.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Ragdoll</span><span class="result"> extends Prefab</span>
-      </span>
-      </a></h4>
-      
-    </li></ol>
-            </div>
-        
-        
-        
-        
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/util/Polar.html b/doc/sims/util/Polar.html
deleted file mode 100644
index d2ad5fd..0000000
--- a/doc/sims/util/Polar.html
+++ /dev/null
@@ -1,239 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.util.Polar</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">util</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>Polar</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Polar</span><span class="params">(<span name="distance">distance: <span class="extype" name="scala.Double">Double</span></span>, <span name="angle">angle: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result"> extends <span class="extype" name="scala.Product">Product</span></span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>Polar coordinates.</p></div>
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.Product">Product</li><li class="in" name="scala.Equals">Equals</li><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.util.Polar#angle">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">angle</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.util.Polar#canEqual">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">canEqual</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.util.Polar#distance">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">distance</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.util.Polar#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      
-      
-    </div>
-    </li><li name="sims.util.Polar#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.util.Polar#productArity">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productArity</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.util.Polar#productElement">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElement</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Int">Int</span></span>)</span><span class="result">: <span class="extype" name="scala.Any">Any</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productElements">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productElements</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.Product#productIterator">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productIterator</span><span class="result">: <span class="extype" name="scala.collection.Iterator">Iterator</span>[<span class="extype" name="scala.Any">Any</span>]</span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.util.Polar#productPrefix">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">productPrefix</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.util.Polar#toCarthesian">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toCarthesian</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns the vector representation of these polar coordinates</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns the vector representation of these polar coordinates.</p></div>
-      
-      
-      
-      
-    </div>
-    </li><li name="sims.util.Polar#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      
-      
-    </div>
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.util.Polar#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Polar</span><span class="params">(<span name="distance">distance: <span class="extype" name="scala.Double">Double</span></span>, <span name="angle">angle: <span class="extype" name="scala.Double">Double</span></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">Polar</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/util/Positioning$.html b/doc/sims/util/Positioning$.html
deleted file mode 100644
index f04ce7c..0000000
--- a/doc/sims/util/Positioning$.html
+++ /dev/null
@@ -1,196 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.util.Positioning</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="value">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">util</a></p>
-
-      <div id="definition">
-        <img src="../../lib/object_big.png" />
-        <h1>Positioning</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">object</span>
-      <span class="symbol">
-        <span class="name">Positioning</span><span class="result"> extends AnyRef</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      <div class="comment cmt"><p>Utility functions for comfortable positioning of bodies.</p></div>
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.util.Positioning#double2RelativeVector">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">double2RelativeVector</span><span class="params">(<span name="x">x: <span class="extype" name="scala.Double">Double</span></span>)</span><span class="result">: <a href="RelativeVector.html" class="extype" name="sims.util.RelativeVector">RelativeVector</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="scala.AnyRef#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.util.Positioning#int2RelativeVector">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">int2RelativeVector</span><span class="params">(<span name="x">x: <span class="extype" name="scala.Int">Int</span></span>)</span><span class="result">: <a href="RelativeVector.html" class="extype" name="sims.util.RelativeVector">RelativeVector</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.util.Positioning#polar2Carthesian">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">polar2Carthesian</span><span class="params">(<span name="p">p: <a href="Polar.html" class="extype" name="sims.util.Polar">Polar</a></span>)</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.util.Positioning#polar2RelativeVector">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">polar2RelativeVector</span><span class="params">(<span name="p">p: <a href="Polar.html" class="extype" name="sims.util.Polar">Polar</a></span>)</span><span class="result">: <a href="RelativeVector.html" class="extype" name="sims.util.RelativeVector">RelativeVector</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.util.Positioning#position">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">position</span><span class="params">(<span name="s">s: <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>)</span><span class="params">(<span name="a">a: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <span class="extype" name="scala.Unit">Unit</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.util.Positioning#vector2RelativeVector">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">vector2RelativeVector</span><span class="params">(<span name="v">v: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <a href="RelativeVector.html" class="extype" name="sims.util.RelativeVector">RelativeVector</a></span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-        
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/util/RelativeVector.html b/doc/sims/util/RelativeVector.html
deleted file mode 100644
index 99da021..0000000
--- a/doc/sims/util/RelativeVector.html
+++ /dev/null
@@ -1,263 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.util.RelativeVector</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="type">
-      
-      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">util</a></p>
-
-      <div id="definition">
-        <img src="../../lib/class_big.png" />
-        <h1>RelativeVector</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">RelativeVector</span><span class="result"> extends AnyRef</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        <div id="mbrsel">
-              <div id="ancestors">
-                <h3>Inherits</h3>
-                <ol><li class="in" name="scala.AnyRef">AnyRef</li><li class="in" name="scala.Any">Any</li></ol>
-              </div>
-            </div>
-        
-        
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.util.RelativeVector#above">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">above</span><span class="params">(<span name="s">s: <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>)</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.util.RelativeVector#above">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">above</span><span class="params">(<span name="point">point: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.util.RelativeVector#below">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">below</span><span class="params">(<span name="s">s: <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>)</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.util.RelativeVector#below">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">below</span><span class="params">(<span name="point">point: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#equals">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">equals</span><span class="params">(<span name="arg0">arg0: <span class="extype" name="scala.Any">Any</span></span>)</span><span class="result">: <span class="extype" name="scala.Boolean">Boolean</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence</p><div class="fullcomment">
-      <div class="comment cmt"><p>This method is used to compare the receiver object (<code>this</code>)
-with the argument object (<code>arg0</code>) for equivalence.</p><p><p>
-The default implementations of this method is an <a
-href="http://en.wikipedia.org/wiki/Equivalence_relation">equivalence
-relation</a>:
-  <ul>
- <li>It is reflexive: for any instance <code>x</code> of type <code>Any</code>,
- <code>x.equals(x)</code> should return <code>true</code>.</li>
- <li>It is symmetric: for any instances <code>x</code> and <code>y</code> of type
- <code>Any</code>, <code>x.equals(y)</code> should return <code>true</code> if and only
- if <code>y.equals(x)</code> returns <code>true</code>.</li>
- <li>It is transitive: for any instances
- <code>x</code>, <code>y</code>, and <code>z</code> of type <code>AnyRef</code>
- if <code>x.equals(y)</code> returns <code>true</code> and
- <code>y.equals(z)</code> returns
- <code>true</code>, then <code>x.equals(z)</code> should return <code>true</code>.</li>
-</ul>
-</p></p><p><p>
-If you override this method, you should verify that
-your implementation remains an equivalence relation.
-Additionally, when overriding this method it is often necessary to
-override <code>hashCode</code> to ensure that objects that are
-"equal" (<code>o1.equals(o2)</code> returns <code>true</code>)
-hash to the same <a href="Int.html"><code>Int</code></a>
-(<code>o1.hashCode.equals(o2.hashCode)</code>).
-</p></div>
-      <dl class="paramcmts block"><dt class="param">arg0</dt><dd class="cmt"><p>the object to compare against this object for equality.</p></dd><dt>returns</dt><dd class="cmt"><p><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.
-</p></p></dd></dl>
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.util.RelativeVector#from">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">from</span><span class="params">(<span name="s">s: <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>)</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.util.RelativeVector#from">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">from</span><span class="params">(<span name="point">point: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#hashCode">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">hashCode</span><span class="params">()</span><span class="result">: <span class="extype" name="scala.Int">Int</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a hash code value for the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a hash code value for the object.</p><p><p>
-The default hashing algorithm is platform dependent.</p><p>Note that it is allowed for two objects to have identical hash
-codes (<code>o1.hashCode.equals(o2.hashCode)</code>) yet not be
-equal (<code>o1.equals(o2)</code> returns <code>false</code>).  A
-degenerate implementation could always return <code>0</code>.
-However, it is required that if two objects are equal
-(<code>o1.equals(o2)</code> returns <code>true</code>) that they
-have identical hash codes
-(<code>o1.hashCode.equals(o2.hashCode)</code>).  Therefore, when
-overriding this method, be sure to verify that the behavior is
-consistent with the <code>equals</code> method.
-</p></p><p><p></p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.util.RelativeVector#left">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">left</span><span class="params">(<span name="s">s: <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>)</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.util.RelativeVector#left">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">left</span><span class="params">(<span name="point">point: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.util.RelativeVector#right">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">right</span><span class="params">(<span name="s">s: <a href="../dynamics/Shape.html" class="extype" name="sims.dynamics.Shape">Shape</a></span>)</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.util.RelativeVector#right">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">right</span><span class="params">(<span name="point">point: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>)</span><span class="result">: <a href="../geometry/Vector2D.html" class="extype" name="sims.geometry.Vector2D">Vector2D</a></span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#toString">
-      <h4 class="signature">
-      <span class="kind">def</span>
-      <span class="symbol">
-        <span class="name">toString</span><span class="params">()</span><span class="result">: <span class="extype" name="java.lang.String">String</span></span>
-      </span>
-      </h4>
-      <p class="shortcomment cmt">Returns a string representation of the object</p><div class="fullcomment">
-      <div class="comment cmt"><p>Returns a string representation of the object.
-<p>
-The default representation is platform dependent.
-</p></div>
-      
-      
-      <div class="block">
-            definition classes: AnyRef ⇐ Any
-          </div>
-      
-    </div>
-    </li><li name="sims.util.RelativeVector#x">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">x</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li><li name="sims.util.RelativeVector#y">
-      <h4 class="signature">
-      <span class="kind">val</span>
-      <span class="symbol">
-        <span class="name">y</span><span class="result">: <span class="extype" name="scala.Double">Double</span></span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-        <div class="members" id="constructors">
-              <h3>Instance constructors</h3>
-              <ol><li name="sims.util.RelativeVector#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">RelativeVector</span><span class="params">(<span name="x">x: <span class="extype" name="scala.Double">Double</span></span>, <span name="y">y: <span class="extype" name="scala.Double">Double</span></span>)</span>
-      </span>
-      </h4>
-      
-    </li><li name="scala.AnyRef#this">
-      <h4 class="signature">
-      <span class="kind">new</span>
-      <span class="symbol">
-        <span class="name">RelativeVector</span><span class="params">()</span>
-      </span>
-      </h4>
-      
-    </li></ol>
-            </div>
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/util/package.html b/doc/sims/util/package.html
deleted file mode 100644
index 0605149..0000000
--- a/doc/sims/util/package.html
+++ /dev/null
@@ -1,81 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
-<html>
-        <head>
-          <title>Scaladoc for sims.util</title>
-          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
-		      <script type="text/javascript" src="../../lib/jquery.js"></script>
-          
-		  <style type="text/css">
-		    @import url(../../lib/template.css) screen;
-		  </style>
-		  <script type="text/javascript" src="../../lib/template.js"></script>
-    
-        </head>
-        <body class="value">
-      
-      <p id="owner"><a href="../package.html">sims</a></p>
-
-      <div id="definition">
-        <img src="../../lib/package_big.png" />
-        <h1>util</h1>
-      </div>
-
-      <h4 class="signature">
-      <span class="kind">package</span>
-      <span class="symbol">
-        <span class="name">util</span>
-      </span>
-      </h4>
-      <div class="fullcomment" id="comment">
-      
-      
-      
-      
-      
-    </div>
-      
-      <div id="template">
-      
-        
-        
-        <div class="members" id="types">
-              <h3>Type Members</h3>
-              <ol><li name="sims.util.Polar">
-      <h4 class="signature"><a href="Polar.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">Polar</span><span class="params">(<span name="distance">distance: Double</span>, <span name="angle">angle: Double</span>)</span><span class="result"> extends Product</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">Polar coordinates</p>
-    </li><li name="sims.util.RelativeVector">
-      <h4 class="signature"><a href="RelativeVector.html">
-      <span class="kind">class</span>
-      <span class="symbol">
-        <span class="name">RelativeVector</span><span class="result"> extends AnyRef</span>
-      </span>
-      </a></h4>
-      
-    </li></ol>
-            </div>
-        
-        <div class="members" id="values">
-              <h3>Value Members</h3>
-              <ol><li name="sims.util.Positioning">
-      <h4 class="signature"><a href="Positioning$.html">
-      <span class="kind">object</span>
-      <span class="symbol">
-        <span class="name">Positioning</span><span class="result"> extends AnyRef</span>
-      </span>
-      </a></h4>
-      <p class="comment cmt">Utility functions for comfortable positioning of bodies</p>
-    </li></ol>
-            </div>
-        
-        
-        
-      </div>
-      
-    </body>
-      </html>
-\ No newline at end of file