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/*
* Simple Mechanics Simulator (SiMS)
* copyright (c) 2009 Jakob Odersky
* made available under the MIT License
*/
package sims.dynamics
import sims.geometry._
import sims.collision._
/**A rectangle is a polygon.
* @param halfWidth this rectangle's half width
* @param halfHeight this rectangle's half height
* @param density density of this rectangle
*/
case class Rectangle(halfWidth: Double,
halfHeight : Double,
density: Double) extends Shape with ConvexPolygon{
val volume = halfWidth * halfHeight * 4
val I = 1.0 / 12.0 * mass * ((2 * halfWidth) * (2 * halfWidth) + (2 * halfHeight) * (2 * halfHeight))
/**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.*/
def halfDiags: Array[Vector2D] = Array(Vector2D(halfWidth, halfHeight),
Vector2D(-halfWidth, halfHeight),
Vector2D(-halfWidth, -halfHeight),
Vector2D(halfWidth, -halfHeight)) map (_ rotate rotation)
/**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.*/
def vertices = for (h <- halfDiags) yield pos + h
}
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