4 files changed, 152 insertions, 0 deletions

diff --git a/src/main/scala/sims/prefabs/Net.scala b/src/main/scala/sims/prefabs/Net.scala
new file mode 100644
index 0000000..d3f4d57
--- /dev/null
+++ b/src/main/scala/sims/prefabs/Net.scala
@@ -0,0 +1,47 @@
+/*
+ * Simple Mechanics Simulator (SiMS)
+ * copyright (c) 2009 Jakob Odersky
+ * made available under the MIT License
+*/
+
+package sims.prefabs
+
+import sims.geometry._
+import sims.dynamics._
+import sims.dynamics.joints._
+
+class Net(width: Int, height: Int, initPos: Vector2D) extends Prefab {
+  val nodeDistance: Double = 0.2
+  val nodeRadius: Double = 0.05
+  val nodeDensity: Double = 4
+  
+  val springConstant: Double = 50
+  val springDamping: Double = 0
+  
+  private val connectors: Array[Array[Body]] = 
+    makeConnectors(width, height)
+  
+  override val bodies: List[Body] = for (row <- connectors.toList; elem <- row) yield elem
+  override val joints = connect(connectors)
+  
+  private def makeConnectors(w: Int, h: Int): Array[Array[Body]] = {
+    for(i <- (0 until w).toArray[Int]) yield
+      for(j <- (0 until h).toArray[Int]) yield
+        new Body(new Circle(nodeRadius, nodeDensity) {pos = Vector2D(nodeDistance * i, nodeDistance * j) + initPos})
+  }
+  
+  private def connect(connectors: Array[Array[Body]]): List[DistanceJoint] = {
+    var r: List[DistanceJoint] = Nil
+    for(i <- 0 to connectors.length - 1; j <- 0 to connectors(i).length - 1) {
+      if (i > 0)
+        r = connect(connectors(i-1)(j),connectors(i)(j)) :: r
+      if (j > 0)
+        r = connect(connectors(i)(j-1),connectors(i)(j)) :: r
+    }
+    r
+  }
+  
+  private def connect(s1: Body, s2: Body): DistanceJoint = 
+    new DistanceJoint(s1, s1.pos, s2, s2.pos)
+  
+}
\ No newline at end of file
diff --git a/src/main/scala/sims/prefabs/Prefab.scala b/src/main/scala/sims/prefabs/Prefab.scala
new file mode 100644
index 0000000..84bb3b7
--- /dev/null
+++ b/src/main/scala/sims/prefabs/Prefab.scala
@@ -0,0 +1,15 @@
+/*
+ * Simple Mechanics Simulator (SiMS)
+ * copyright (c) 2009 Jakob Odersky
+ * made available under the MIT License
+*/
+
+package sims.prefabs
+
+import sims.dynamics._
+import sims.dynamics.joints._
+
+trait Prefab {
+  val bodies: Iterable[Body] = Nil
+  val joints: Iterable[Joint] = Nil
+}
diff --git a/src/main/scala/sims/prefabs/Pylon.scala b/src/main/scala/sims/prefabs/Pylon.scala
new file mode 100644
index 0000000..7f3211f
--- /dev/null
+++ b/src/main/scala/sims/prefabs/Pylon.scala
@@ -0,0 +1,47 @@
+/*
+ * Simple Mechanics Simulator (SiMS)
+ * copyright (c) 2009 Jakob Odersky
+ * made available under the MIT License
+*/
+
+package sims.prefabs
+
+import sims.geometry._
+import sims.dynamics._
+import sims.dynamics.joints._
+
+class Pylon extends Prefab{
+  val position: Vector2D = Vector2D(2,1)
+  val nodeDensity: Double = 100
+  val beamHeight: Double = 1
+  val beamWidth: Double = 0.5
+  val beamNumber: Int = 10
+  
+  private val nodeRow1 = (for (i <- 0 to beamNumber) yield (new Circle(0.01, nodeDensity) {
+    pos = position + Vector2D(0, i * beamHeight)}).asBody).toList
+  private val nodeRow2 = (for (i <- 0 to beamNumber) yield (new Circle(0.01, nodeDensity) {
+    pos = position + Vector2D(beamWidth, i * beamHeight)}).asBody).toList
+  
+  private val beamRow1 = (for (i <- 0 until nodeRow1.length - 1) yield
+  	new DistanceJoint(nodeRow1(i), nodeRow1(i).pos, nodeRow1(i+1), nodeRow1(i + 1).pos)).toList
+  private val beamRow2 = (for (i <- 0 until nodeRow1.length - 1) yield
+  	new DistanceJoint(nodeRow2(i), nodeRow2(i).pos, nodeRow2(i+1), nodeRow2(i + 1).pos)).toList
+  
+  private val latBeams = (for (i <- 0 to beamNumber) yield 
+  	new DistanceJoint(nodeRow1(i), nodeRow2(i))).toList
+  private val diagBeams1 = (for (i <- 0 until beamNumber) yield
+    new DistanceJoint(nodeRow1(i), nodeRow2(i + 1))).toList
+  private val diagBeams2 = (for (i <- 0 until beamNumber) yield
+    new DistanceJoint(nodeRow2(i), nodeRow1(i + 1))).toList
+  
+  
+  
+  
+  lazy val nodes = nodeRow1 ++ nodeRow2
+  lazy val beams = beamRow1 ++ beamRow2 ++ latBeams ++ diagBeams1 ++ diagBeams2
+  
+  override val bodies = nodes
+  override val joints = beams
+  
+  
+}
diff --git a/src/main/scala/sims/prefabs/Ragdoll.scala b/src/main/scala/sims/prefabs/Ragdoll.scala
new file mode 100644
index 0000000..00e4b8d
--- /dev/null
+++ b/src/main/scala/sims/prefabs/Ragdoll.scala
@@ -0,0 +1,43 @@
+/*
+ * Simple Mechanics Simulator (SiMS)
+ * copyright (c) 2009 Jakob Odersky
+ * made available under the MIT License
+*/
+
+package sims.prefabs
+
+import sims.dynamics._
+import sims.dynamics.joints._
+import sims.geometry._
+
+class Ragdoll(position: Vector2D) extends Prefab {
+  val headTorso = new Body(new Circle(0.1, 1) {pos = position},
+                           new Rectangle(0.09, 0.35, 1) {pos = position + Vector2D(0, -0.45)})
+  val thigh1 = (new Rectangle(0.075, 0.17, 1) {pos = position + Vector2D(0, -0.97)}).asBody
+  val thigh2 = (new Rectangle(0.075, 0.17, 1) {pos = position + Vector2D(0, -0.97)}).asBody
+  val tibia1 = (new Rectangle(0.075, 0.25, 1) {pos = position + Vector2D(0, -1.39)}).asBody
+  val tibia2 = (new Rectangle(0.075, 0.25, 1) {pos = position + Vector2D(0, -1.39)}).asBody
+  val foot1 = (new Circle(0.08, 1) {pos = position + Vector2D(0, -1.72)}).asBody
+  val foot2 = (new Circle(0.08, 1) {pos = position + Vector2D(0, -1.72)}).asBody
+  val upperArm1 = (new Rectangle(0.17, 0.06, 1) {pos = position + Vector2D(0.17, -0.16)}).asBody
+  val upperArm2 = (new Rectangle(0.17, 0.06, 1) {pos = position + Vector2D(-0.17, -0.16)}).asBody
+  val forearm1 = (new Rectangle(0.15, 0.06, 1) {pos = position + Vector2D(0.49, -0.16)}).asBody
+  val forearm2 = (new Rectangle(0.15, 0.06, 1) {pos = position + Vector2D(-0.49, -0.16)}).asBody
+  val hand1 = (new Circle(0.07, 1) {pos = position + Vector2D(0.71, -0.16)}).asBody
+  val hand2 = (new Circle(0.07, 1) {pos = position + Vector2D(-0.71, -0.16)}).asBody
+  
+  override val bodies = List(headTorso,
+                             thigh1, thigh2,
+                             tibia1, tibia2,
+                             foot1, foot2,
+                             upperArm1, upperArm2,
+                             forearm1, forearm2,
+                             hand1, hand2)
+  private val shapes = bodies.flatMap(_.shapes)
+  for (s <- shapes) s.transientShapes ++= shapes
+  
+  val shoulder1 = RevoluteJoint(headTorso, upperArm1, position + Vector2D(0, -0.16))
+  val shoulder2 = RevoluteJoint(headTorso, upperArm2, position + Vector2D(0, -0.16))
+  override val joints = Nil //List(shoulder1, shoulder2)
+
+}