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/* _____ _ __ ________ ___ *\
** / ___/(_) |/ / ___/ |__ \ Simple Mechanics Simulator 2 **
** \__ \/ / /|_/ /\__ \ __/ / copyright (c) 2011 Jakob Odersky **
** ___/ / / / / /___/ / / __/ **
** /____/_/_/ /_//____/ /____/ **
\* */
package sims.dynamics
import scala.collection.mutable.ArrayBuffer
import sims.collision._
import sims.collision.broadphase.SAP
import sims.collision.narrowphase.SAT
import sims.math.Vector2D
class World {
val detector = SAP[sims.dynamics.Shape] narrowedBy
new sims.collision.narrowphase.gjk.GJK2[sims.dynamics.Shape]
//SAT[sims.dynamics.Shape]
var collisionDetection = true
private val _bodies = new ArrayBuffer[Body]
def bodies: Seq[Body] = _bodies
def +=(b: Body): Unit = {
_bodies += b
detector ++= b.shapes
}
def -=(b: Body): Unit = {
_bodies -= b
detector --= b.shapes
}
def shapes: Seq[sims.dynamics.Shape] = for (b <- bodies; s <- b.shapes) yield s
private val _joints = new ArrayBuffer[Joint]
def joints: Seq[Joint] = _joints
def +=(j: Joint): Unit = _joints += j
def -=(j: Joint): Unit = _joints -= j
def clear() = {
detector.clear()
for (b <- bodies) _bodies -= b
for (j <- joints) _joints -= j
}
var h = 1.0 / 60
var iterations = 10
var errorReduction = 0.2
var gravity = sims.math.Vector2D(0, -9.8)
def preStep() = {}
def step() = {
preStep()
for (b <- _bodies) {
b applyForce gravity * b.mass
b.linearVelocity += (b.force / b.mass) * h
b.angularVelocity += (b.torque / b.inertia) * h
}
for (j <- joints) {
j.preSolve()
}
for (i <- 0 until iterations)
for (j <- joints) j.correctVelocity(h, errorReduction)
if (collisionDetection) {
import Collision._
val physicalCollisions: Seq[Collision] = detector.collisions.map(_.toPhysical)
for (c <- physicalCollisions) c.preSolve()
for (i <- 0 until iterations)
for (c <- physicalCollisions) c.correctVelocity(h, errorReduction)
}
for (b <- _bodies) {
b.position += b.linearVelocity * h
b.rotation += b.angularVelocity * h
b.force = Vector2D.Null
}
postStep()
}
def postStep(): Unit = {
detector.invalidate()
}
}
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