Minor graphyx modifications. Added tests. Added 'PrismaticJoint' (still incomplete). Started to transfer 'ForceJoints' to ordinary joints who use only constraints for correction. Started to add materials.

23 files changed, 319 insertions, 58 deletions

diff --git a/doc/graphyx/graphics/Parser$object.html b/doc/graphyx/graphics/Parser$object.html
index 4e88dfa..a03729d 100644
--- a/doc/graphyx/graphics/Parser$object.html
+++ b/doc/graphyx/graphics/Parser$object.html
@@ -56,8 +56,8 @@
         <code> def</code>
       </td>
       <td class="signature">
-        <em><a href="../../graphyx/graphics/Parser$object.html#toGraphical%28sims.dynamics.Body%29" target="_self">toGraphical</a></em>
-        (<em>real</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>) : <a href="../../graphyx/graphics/GraphicalBody.html" target="_self">GraphicalBody</a>
+        <em><a href="../../graphyx/graphics/Parser$object.html#toGraphical%28sims.collision.AABB%29" target="_self">toGraphical</a></em>
+        (<em>real</em> : <a href="../../sims/collision/AABB.html" target="_self">AABB</a>) : <a href="../../graphyx/graphics/GraphicalAABB.html" target="_self">GraphicalAABB</a>
         
         
       </td>
@@ -67,8 +67,8 @@
         <code> def</code>
       </td>
       <td class="signature">
-        <em><a href="../../graphyx/graphics/Parser$object.html#toGraphical%28sims.collision.Pair%29" target="_self">toGraphical</a></em>
-        (<em>real</em> : <a href="../../sims/collision/Pair.html" target="_self">Pair</a>) : <a href="../../graphyx/graphics/GraphicalPair.html" target="_self">GraphicalPair</a>
+        <em><a href="../../graphyx/graphics/Parser$object.html#toGraphical%28sims.dynamics.Shape%29" target="_self">toGraphical</a></em>
+        (<em>real</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>) : <a href="../../graphyx/graphics/GraphicalShape.html" target="_self">GraphicalShape</a><code> with </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a>
         
         
       </td>
@@ -78,8 +78,8 @@
         <code> def</code>
       </td>
       <td class="signature">
-        <em><a href="../../graphyx/graphics/Parser$object.html#toGraphical%28sims.dynamics.Shape%29" target="_self">toGraphical</a></em>
-        (<em>real</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>) : <a href="../../graphyx/graphics/GraphicalShape.html" target="_self">GraphicalShape</a><code> with </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a>
+        <em><a href="../../graphyx/graphics/Parser$object.html#toGraphical%28sims.collision.Pair%29" target="_self">toGraphical</a></em>
+        (<em>real</em> : <a href="../../sims/collision/Pair.html" target="_self">Pair</a>) : <a href="../../graphyx/graphics/GraphicalPair.html" target="_self">GraphicalPair</a>
         
         
       </td>
@@ -100,8 +100,8 @@
         <code> def</code>
       </td>
       <td class="signature">
-        <em><a href="../../graphyx/graphics/Parser$object.html#toGraphical%28sims.collision.AABB%29" target="_self">toGraphical</a></em>
-        (<em>real</em> : <a href="../../sims/collision/AABB.html" target="_self">AABB</a>) : <a href="../../graphyx/graphics/GraphicalAABB.html" target="_self">GraphicalAABB</a>
+        <em><a href="../../graphyx/graphics/Parser$object.html#toGraphical%28sims.collision.Collision%29" target="_self">toGraphical</a></em>
+        (<em>real</em> : <a href="../../sims/collision/Collision.html" target="_self">Collision</a>) : <a href="../../graphyx/graphics/GraphicalCollision.html" target="_self">GraphicalCollision</a>
         
         
       </td>
@@ -111,8 +111,8 @@
         <code> def</code>
       </td>
       <td class="signature">
-        <em><a href="../../graphyx/graphics/Parser$object.html#toGraphical%28sims.collision.Collision%29" target="_self">toGraphical</a></em>
-        (<em>real</em> : <a href="../../sims/collision/Collision.html" target="_self">Collision</a>) : <a href="../../graphyx/graphics/GraphicalCollision.html" target="_self">GraphicalCollision</a>
+        <em><a href="../../graphyx/graphics/Parser$object.html#toGraphical%28sims.dynamics.Body%29" target="_self">toGraphical</a></em>
+        (<em>real</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>) : <a href="../../graphyx/graphics/GraphicalBody.html" target="_self">GraphicalBody</a>
         
         
       </td>
diff --git a/doc/sims/dynamics/World.html b/doc/sims/dynamics/World.html
index 6c882fe..f9b0217 100644
--- a/doc/sims/dynamics/World.html
+++ b/doc/sims/dynamics/World.html
@@ -202,10 +202,10 @@
         <code> def</code>
       </td>
       <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#%2B%3D%28sims.dynamics.Body%29" target="_self">+=</a></em>
-        (<em>body</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
+        <em><a href="../../sims/dynamics/World.html#%2B%3D%28sims.prefabs.Prefab%29" target="_self">+=</a></em>
+        (<em>p</em> : <a href="../../sims/prefabs/Prefab.html" target="_self">Prefab</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
         
-        <div>Fuegt dieser Welt einen Koerper hinzu.</div>
+        <div>Fuegt dieser Welt ein vorangefertigtes System vaus Koerpern und Verbindungen hinzu.</div>
       </td>
     </tr>
 <tr>
@@ -213,10 +213,10 @@
         <code> def</code>
       </td>
       <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#%2B%3D%28sims.prefabs.Prefab%29" target="_self">+=</a></em>
-        (<em>p</em> : <a href="../../sims/prefabs/Prefab.html" target="_self">Prefab</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
+        <em><a href="../../sims/dynamics/World.html#%2B%3D%28sims.dynamics.joints.Joint%29" target="_self">+=</a></em>
+        (<em>joint</em> : <a href="../../sims/dynamics/joints/Joint.html" target="_self">Joint</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
         
-        <div>Fuegt dieser Welt ein vorangefertigtes System vaus Koerpern und Verbindungen hinzu.</div>
+        <div>Fuegt dieser Welt eine Verbindung hinzu.</div>
       </td>
     </tr>
 <tr>
@@ -224,10 +224,10 @@
         <code> def</code>
       </td>
       <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#%2B%3D%28sims.dynamics.joints.Joint%29" target="_self">+=</a></em>
-        (<em>joint</em> : <a href="../../sims/dynamics/joints/Joint.html" target="_self">Joint</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
+        <em><a href="../../sims/dynamics/World.html#%2B%3D%28sims.dynamics.Body%29" target="_self">+=</a></em>
+        (<em>body</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
         
-        <div>Fuegt dieser Welt eine Verbindung hinzu.</div>
+        <div>Fuegt dieser Welt einen Koerper hinzu.</div>
       </td>
     </tr>
 <tr>
@@ -246,10 +246,10 @@
         <code> def</code>
       </td>
       <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#-%3D%28sims.dynamics.Body%29" target="_self">-=</a></em>
-        (<em>body</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
+        <em><a href="../../sims/dynamics/World.html#-%3D%28sims.prefabs.Prefab%29" target="_self">-=</a></em>
+        (<em>p</em> : <a href="../../sims/prefabs/Prefab.html" target="_self">Prefab</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
         
-        <div>Entfernt den gegebenen Koerper aus dieser Welt.</div>
+        <div>Entfernt das gegebene System aus Koerpern und Verbindungen aus dieser Welt.</div>
       </td>
     </tr>
 <tr>
@@ -257,10 +257,10 @@
         <code> def</code>
       </td>
       <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#-%3D%28sims.dynamics.joints.Joint%29" target="_self">-=</a></em>
-        (<em>joint</em> : <a href="../../sims/dynamics/joints/Joint.html" target="_self">Joint</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
+        <em><a href="../../sims/dynamics/World.html#-%3D%28sims.dynamics.Body%29" target="_self">-=</a></em>
+        (<em>body</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
         
-        <div>Entfernt die gegebene Verbindung aus dieser Welt.</div>
+        <div>Entfernt den gegebenen Koerper aus dieser Welt.</div>
       </td>
     </tr>
 <tr>
@@ -268,10 +268,10 @@
         <code> def</code>
       </td>
       <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#-%3D%28sims.prefabs.Prefab%29" target="_self">-=</a></em>
-        (<em>p</em> : <a href="../../sims/prefabs/Prefab.html" target="_self">Prefab</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
+        <em><a href="../../sims/dynamics/World.html#-%3D%28sims.dynamics.joints.Joint%29" target="_self">-=</a></em>
+        (<em>joint</em> : <a href="../../sims/dynamics/joints/Joint.html" target="_self">Joint</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
         
-        <div>Entfernt das gegebene System aus Koerpern und Verbindungen aus dieser Welt.</div>
+        <div>Entfernt die gegebene Verbindung aus dieser Welt.</div>
       </td>
     </tr>
 <tr>
diff --git a/doc/sims/dynamics/joints/SpringJoint.html b/doc/sims/dynamics/joints/SpringJoint.html
index ba601bb..b361835 100644
--- a/doc/sims/dynamics/joints/SpringJoint.html
+++ b/doc/sims/dynamics/joints/SpringJoint.html
@@ -55,8 +55,8 @@
         <code> def</code>
       </td>
       <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/SpringJoint.html#this%28sims.dynamics.Body%2Csims.dynamics.Body%2CDouble%2CDouble%29" target="_self">this</a></em>
-        (<em>node1</em> : <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <em>node2</em> : <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <em>springConstant</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <em>initialLength</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="../../../sims/dynamics/joints/SpringJoint.html" target="_self">SpringJoint</a>
+        <em><a href="../../../sims/dynamics/joints/SpringJoint.html#this%28sims.dynamics.Body%2Csims.geometry.Vector2D%2Csims.dynamics.Body%2Csims.geometry.Vector2D%2CDouble%29" target="_self">this</a></em>
+        (<em>node1</em> : <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <em>anchor1</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <em>node2</em> : <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <em>anchor2</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <em>springConstant</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="../../../sims/dynamics/joints/SpringJoint.html" target="_self">SpringJoint</a>
         
         
       </td>
@@ -66,8 +66,8 @@
         <code> def</code>
       </td>
       <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/SpringJoint.html#this%28sims.dynamics.Body%2Csims.geometry.Vector2D%2Csims.dynamics.Body%2Csims.geometry.Vector2D%2CDouble%29" target="_self">this</a></em>
-        (<em>node1</em> : <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <em>anchor1</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <em>node2</em> : <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <em>anchor2</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <em>springConstant</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="../../../sims/dynamics/joints/SpringJoint.html" target="_self">SpringJoint</a>
+        <em><a href="../../../sims/dynamics/joints/SpringJoint.html#this%28sims.dynamics.Body%2Csims.dynamics.Body%2CDouble%2CDouble%29" target="_self">this</a></em>
+        (<em>node1</em> : <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <em>node2</em> : <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <em>springConstant</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <em>initialLength</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="../../../sims/dynamics/joints/SpringJoint.html" target="_self">SpringJoint</a>
         
         
       </td>
diff --git a/doc/sims/math/Matrix22.html b/doc/sims/math/Matrix22.html
index fe05b63..b3a5906 100644
--- a/doc/sims/math/Matrix22.html
+++ b/doc/sims/math/Matrix22.html
@@ -72,10 +72,10 @@
         <code> def</code>
       </td>
       <td class="signature">
-        <em><a href="../../sims/math/Matrix22.html#*%28sims.math.Matrix22%29" target="_self">*</a></em>
-        (<em>m</em> : <a href="../../sims/math/Matrix22.html" target="_self">Matrix22</a>) : <a href="../../sims/math/Matrix22.html" target="_self">Matrix22</a>
+        <em><a href="../../sims/math/Matrix22.html#*%28sims.geometry.Vector2D%29" target="_self">*</a></em>
+        (<em>v</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
         
-        <div>Multiplikation mit einer anderen 2x2-Matrix.</div>
+        <div>Multiplikation mit einer 2x1-Matrix (2-dimensionaler Vektor).</div>
       </td>
     </tr>
 <tr>
@@ -83,10 +83,10 @@
         <code> def</code>
       </td>
       <td class="signature">
-        <em><a href="../../sims/math/Matrix22.html#*%28sims.geometry.Vector2D%29" target="_self">*</a></em>
-        (<em>v</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
+        <em><a href="../../sims/math/Matrix22.html#*%28sims.math.Matrix22%29" target="_self">*</a></em>
+        (<em>m</em> : <a href="../../sims/math/Matrix22.html" target="_self">Matrix22</a>) : <a href="../../sims/math/Matrix22.html" target="_self">Matrix22</a>
         
-        <div>Multiplikation mit einer 2x1-Matrix (2-dimensionaler Vektor).</div>
+        <div>Multiplikation mit einer anderen 2x2-Matrix.</div>
       </td>
     </tr>
 <tr>
diff --git a/doc/sims/prefabs/Ragdoll.html b/doc/sims/prefabs/Ragdoll.html
index f7cc846..0ae14d2 100644
--- a/doc/sims/prefabs/Ragdoll.html
+++ b/doc/sims/prefabs/Ragdoll.html
@@ -131,7 +131,7 @@
       </td>
       <td class="signature">
         <em><a href="../../sims/prefabs/Ragdoll.html#joints" target="_self">joints</a></em>
-         : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="../../sims/dynamics/joints/RevoluteJoint.html" target="_self">RevoluteJoint</a>]
+         : <a href="#Nil" target="contentFrame" class="scala">scala.Nil</a>
         
         
       </td>
@@ -402,7 +402,7 @@
         
         <code>override</code>
         <code>val</code>
-        <em>joints</em> : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="../../sims/dynamics/joints/RevoluteJoint.html" target="_self">RevoluteJoint</a>]
+        <em>joints</em> : <a href="#Nil" target="contentFrame" class="scala">scala.Nil</a>
       </dt>
       <dd></dd>
     </dl><dl>
diff --git a/doc/sims/util/RelativeVector.html b/doc/sims/util/RelativeVector.html
index ed726df..323edb5 100644
--- a/doc/sims/util/RelativeVector.html
+++ b/doc/sims/util/RelativeVector.html
@@ -87,8 +87,8 @@
         <code> def</code>
       </td>
       <td class="signature">
-        <em><a href="../../sims/util/RelativeVector.html#from%28sims.dynamics.Shape%29" target="_self">from</a></em>
-        (<em>s</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
+        <em><a href="../../sims/util/RelativeVector.html#from%28sims.geometry.Vector2D%29" target="_self">from</a></em>
+        (<em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
         
         
       </td>
@@ -98,8 +98,8 @@
         <code> def</code>
       </td>
       <td class="signature">
-        <em><a href="../../sims/util/RelativeVector.html#from%28sims.geometry.Vector2D%29" target="_self">from</a></em>
-        (<em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
+        <em><a href="../../sims/util/RelativeVector.html#from%28sims.dynamics.Shape%29" target="_self">from</a></em>
+        (<em>s</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
         
         
       </td>
diff --git a/src/graphyx/Graphyx.scala b/src/graphyx/Graphyx.scala
index 81a8ee8..01caea8 100644
--- a/src/graphyx/Graphyx.scala
+++ b/src/graphyx/Graphyx.scala
@@ -18,7 +18,10 @@ object Graphyx{
     CompositeShape,
     Joints1,
     Joints2,
+    Spring,
+    Atom,
     Chain,
+    Wave,
     Stacking,
     BallStack,
     Cup,
diff --git a/src/graphyx/graphics/GraphicalShape.scala b/src/graphyx/graphics/GraphicalShape.scala
index e6f61a7..256c041 100644
--- a/src/graphyx/graphics/GraphicalShape.scala
+++ b/src/graphyx/graphics/GraphicalShape.scala
@@ -7,8 +7,8 @@
 package graphyx.graphics
 
 import sims.dynamics._
-trait GraphicalShape extends Shape  with GraphicalObject{
-  val real: Shape
+trait GraphicalShape extends Shape with GraphicalObject{
+  val real:  Shape
   override val uid: Int = real.uid
   pos = real.pos
   rotation = real.rotation
diff --git a/src/graphyx/graphics/Parser.scala b/src/graphyx/graphics/Parser.scala
index 7871ae8..9468d16 100644
--- a/src/graphyx/graphics/Parser.scala
+++ b/src/graphyx/graphics/Parser.scala
@@ -24,7 +24,8 @@ object Parser {
     case j: DistanceJoint => GraphicalDistanceJoint(j)
     case j: SpringJoint => GraphicalSpringJoint(j)
     case j: RevoluteJoint => GraphicalRevoluteJoint(j)
-    case _ => throw new IllegalArgumentException("Cannot cast '" + real.getClass + "' to a graphical object.")
+    case j: Joint => if (!throwOnUnknown) new GraphicalJoint{override val real = j; def draw = ()}
+                     else throw new IllegalArgumentException("Cannot cast '" + real.getClass + "' to a graphical object.")
   }
   
   def toGraphical(real: Collision) = GraphicalCollision(real)
diff --git a/src/graphyx/gui/AboutHelpFrame.scala b/src/graphyx/gui/AboutHelpFrame.scala
index 5afa58e..4dba9f1 100644
--- a/src/graphyx/gui/AboutHelpFrame.scala
+++ b/src/graphyx/gui/AboutHelpFrame.scala
@@ -14,7 +14,7 @@ class AboutHelpFrame extends Frame {
      	|SiMS and Graphyx are made available under the MIT License
      	|
      	|http://sourceforge.net/projects/simplemechanics/""".stripMargin
-  )
+  ) {editable = false}
 }
 
 object AboutHelpFrame {
diff --git a/src/graphyx/gui/OptionsPanel.scala b/src/graphyx/gui/OptionsPanel.scala
index 3ec3921..525f352 100644
--- a/src/graphyx/gui/OptionsPanel.scala
+++ b/src/graphyx/gui/OptionsPanel.scala
@@ -13,7 +13,7 @@ import scala.swing._
 import scala.swing.event._
 import GridBagPanel._
 
-class OptionsPanel(container: Container) extends GridPanel(11,2){
+class OptionsPanel(container: Container) extends GridPanel(12,2){
   /*
   val c = new Constraints
   c.anchor = Anchor.West
@@ -55,6 +55,9 @@ class OptionsPanel(container: Container) extends GridPanel(11,2){
   val lblDrawCollisions = new Label("Collisions")
   val chckDrawCollisions = new CheckBox {selected = false}
   
+  val lblTrace = new Label("Trace")
+  val chckTrace = new CheckBox {selected = false}
+  
   val components = List(
     lblTimeStep, txtTimeStep,
     lblIterations, txtIterations,
@@ -66,7 +69,8 @@ class OptionsPanel(container: Container) extends GridPanel(11,2){
     lblDrawJoints, chckDrawJoints,
     lblDrawAABBs, chckDrawAABBs,
     lblDrawPairs, chckDrawPairs,
-    lblDrawCollisions, chckDrawCollisions
+    lblDrawCollisions, chckDrawCollisions,
+    lblTrace, chckTrace
   )
   contents ++= components
   listenTo(components: _*)
@@ -82,6 +86,7 @@ class OptionsPanel(container: Container) extends GridPanel(11,2){
     case ButtonClicked(`chckDrawAABBs`) => container.mainFrame.mainPanel.worldPanel.drawAABBs = chckDrawAABBs.selected
     case ButtonClicked(`chckDrawPairs`) => container.mainFrame.mainPanel.worldPanel.drawPairs = chckDrawPairs.selected
     case ButtonClicked(`chckDrawCollisions`) => container.mainFrame.mainPanel.worldPanel.drawCollisions = chckDrawCollisions.selected
+    case ButtonClicked(`chckTrace`) => container.mainFrame.mainPanel.worldPanel.trace = chckTrace.selected
   }
   
   def update() = {
@@ -97,6 +102,7 @@ class OptionsPanel(container: Container) extends GridPanel(11,2){
       chckDrawAABBs.selected = container.mainFrame.mainPanel.worldPanel.drawAABBs
       chckDrawPairs.selected = container.mainFrame.mainPanel.worldPanel.drawPairs
       chckDrawCollisions.selected = container.mainFrame.mainPanel.worldPanel.drawCollisions
+      chckTrace.selected = container.mainFrame.mainPanel.worldPanel.trace
   }
   
   
diff --git a/src/graphyx/gui/WorldPanel.scala b/src/graphyx/gui/WorldPanel.scala
index 13765e5..cd91f00 100644
--- a/src/graphyx/gui/WorldPanel.scala
+++ b/src/graphyx/gui/WorldPanel.scala
@@ -42,6 +42,7 @@ class WorldPanel(container: Container) extends BoxPanel(Orientation.Vertical){
   var drawAABBs = false
   var drawPairs = false
   var drawCollisions = false
+  var trace = false
   
   override def paintComponent(g: java.awt.Graphics) = {
     var parts: Seq[graphyx.graphics.Drawable] = Seq()
@@ -55,6 +56,7 @@ class WorldPanel(container: Container) extends BoxPanel(Orientation.Vertical){
     drawAxes(g)
     g.translate(offset.x.toInt, -offset.y.toInt)
     drawParts(parts, g)
+    if (trace) trace(scene.shapes, g)
     g.translate(-offset.x.toInt, offset.y.toInt)
   }
   
@@ -80,6 +82,30 @@ class WorldPanel(container: Container) extends BoxPanel(Orientation.Vertical){
     }
   }
   
+  import collection.mutable._
+  val prevPos: collection.mutable.Map[Int, collection.mutable.Queue[Vector2D]] = Map()
+  def trace(shapes: Iterable[graphics.GraphicalShape], g: java.awt.Graphics) = {
+    for (s <- shapes) {
+      s.g = g
+      s.windowHeight = super.size.height
+      s.ppm = ppm
+      s.scale = this.scale
+      
+      
+      if (!prevPos.contains(s.uid)) prevPos += (s.uid -> new Queue[Vector2D])
+      else {
+        prevPos(s.uid).enqueue(s.pos)
+        for(i <- 0 until prevPos(s.uid).length - 1) {
+          val sp = prevPos(s.uid)(i)
+          val ep = prevPos(s.uid)(i + 1)
+          s.g.setColor(java.awt.Color.cyan)
+          s.drawLine(sp, ep)
+        }
+        if (prevPos(s.uid).length == 50) prevPos(s.uid).dequeue
+      }
+    }
+  }
+  
   def getBody(p: Vector2D): Option[Body] = {
       val shape = scene.shapes.find(_.contains(p))
       if (shape != None) Some(shape.get.real.body)
@@ -106,8 +132,10 @@ class WorldPanel(container: Container) extends BoxPanel(Orientation.Vertical){
     case MousePressed(c,p,x,y,b) => {
       mousePressed = true; startPoint = p; endPoint = p
       x match {
-        case 1024  if (getBody(p) != None) => grab(getBody(p).get, p)
+        case 1024 if (getBody(p) != None) => grab(getBody(p).get, p)
+        case 1152 if (getBody(p) != None) => {grabbedBody = Some(new GrabbedBody(getBody(p).get, p)); popup.body = grabbedBody.get.body; popup.peer.setLocation(p); popup.visible = true}
         case 4096 if (getBody(p) != None) => {grabbedBody = Some(new GrabbedBody(getBody(p).get, p)); popup.body = grabbedBody.get.body; popup.peer.setLocation(p); popup.visible = true}
+        case _ => ()
       }
     }
                                                                          
diff --git a/src/graphyx/tests/Atom.scala b/src/graphyx/tests/Atom.scala
new file mode 100644
index 0000000..84fe05c
--- /dev/null
+++ b/src/graphyx/tests/Atom.scala
@@ -0,0 +1,35 @@
+package graphyx.tests
+
+import sims.dynamics._
+import sims.dynamics.joints._
+import sims.geometry._
+
+object Atom extends Test{
+  val title = "Atom"
+  val world = new World
+  
+  var nucleus = new Body(Circle(0.05, 1000)) {fixed = true}
+  var electrons: List[Body] = Nil
+  var connections: List[SpringJoint] = Nil
+  
+  def init = {
+    world -= nucleus
+    nucleus = new Body(Circle(0.05, 10)) {fixed = true}
+    world += nucleus
+    world --= electrons
+    electrons = Nil
+    for (c <- connections) world -= c
+    connections = Nil
+  }
+  
+  override def fireEvent = {
+    val e = (new Circle(0.1, 10) {pos = Vector2D(0, -1)}).asBody
+    e.linearVelocity = Vector2D(-50,100)
+    electrons = e :: electrons
+    world += e
+    
+    val c = new SpringJoint(nucleus, e, 500)
+    connections = c :: connections
+    world += c
+  }
+}
diff --git a/src/graphyx/tests/Spring.scala b/src/graphyx/tests/Spring.scala
new file mode 100644
index 0000000..4eec8de
--- /dev/null
+++ b/src/graphyx/tests/Spring.scala
@@ -0,0 +1,32 @@
+package graphyx.tests
+
+import sims.dynamics._
+import sims.dynamics.joints._
+import sims.geometry._
+import java.io._
+
+object Spring extends Test{
+  val title = "Spring"
+  val fout = new java.io.FileOutputStream("out.csv")
+  val sout = new java.io.PrintStream(fout)
+  val world = new World {
+    override def postStep = {
+      //for (b <- bodies; if (b.monitor)) sout.println(monitors(0)._2(b))
+    }
+  }
+  
+  def init = {
+    val anchor = Circle(0.05, 10).asBody
+    anchor.fixed = true
+    val particle = (new Circle(0.1, 10) {pos = Vector2D(0, -1)}).asBody
+    val spring = new SpringJoint(anchor, particle, 500, 0.6)
+    //val spring = new PrismaticJoint(anchor, particle)
+    spring.damping = 1
+    particle.monitor = true
+    world.monitors += ("", _.pos.y.toString)
+    
+    world += anchor
+    world += particle
+    world += spring
+  }
+}
diff --git a/src/graphyx/tests/Wave.scala b/src/graphyx/tests/Wave.scala
new file mode 100644
index 0000000..62ec194
--- /dev/null
+++ b/src/graphyx/tests/Wave.scala
@@ -0,0 +1,27 @@
+package graphyx.tests
+
+import sims.dynamics._
+import sims.dynamics.joints._
+import sims.dynamics.joints.test._
+import sims.geometry._
+
+object Wave extends Test{
+  val title = "Wave"
+  val world = new World {gravity = Vector2D.Null}
+  
+  def init = {
+    val n = 50
+    val anchors = for (i <- (0 to n).toList) yield (new Body(new Circle(0.01,1) {pos = Vector2D(0.4 * i, 5)}) {fixed = true})
+    val particles = for (i <- (0 to n).toList) yield (new Body(new Circle(0.1,10) {pos = Vector2D(0.4 * i, 0)}))
+    val rails = (for (i <- (0 to n).toList) yield (new PrismaticJoint(anchors(i), particles(i))))
+    val springs = (for (i <- (0 to n).toList) yield (new SpringJoint(anchors(i), particles(i), 5)))// {damping = 0.00}))
+    world ++= anchors
+    world ++= particles
+    for (j <- rails ++ springs) world += j
+    
+    val lateralSprings = (for (i <- (0 to (n - 1)).toList) yield (new SpringJoint(particles(i), particles(i + 1), 50.0)))
+    for (j <- lateralSprings) world += j
+    
+  }
+  
+}
diff --git a/src/sims/collision/PolyCollision.scala b/src/sims/collision/PolyCollision.scala
index bbe5568..3eeb7ca 100644
--- a/src/sims/collision/PolyCollision.scala
+++ b/src/sims/collision/PolyCollision.scala
@@ -40,11 +40,15 @@ case class PolyCollision(p1: ConvexPolygon, p2: ConvexPolygon) extends Collision
   lazy val shape2 = incPoly.asInstanceOf[Shape]
   
   lazy val normal = refPoly.sides(minOverlap.sideNum).n0
-  lazy val points = (for (v <- incPoly.vertices; if refPoly.contains(v)) yield v) ++
+  lazy val points = (for (v <- incPoly.vertices; if refPoly.contains(v)) yield v)++
+    (for (v <- refPoly.vertices; if incPoly.contains(v)) yield v)
+  
+  /* ++
     (for (s <- incPoly.sides;
     val clip = s.clipToSegment(refPoly.sides((refPoly.sides.length - (minOverlap.sideNum + 1)) % refPoly.sides.length));
     if (clip != None)) yield clip.get) ++ 
     (for (s <- incPoly.sides;
     val clip = s.clipToSegment(refPoly.sides((refPoly.sides.length - (minOverlap.sideNum - 1)) % refPoly.sides.length));
     if (clip != None)) yield clip.get)
+  */
 }
diff --git a/src/sims/dynamics/World.scala b/src/sims/dynamics/World.scala
index d7ac8ae..7b165f5 100644
--- a/src/sims/dynamics/World.scala
+++ b/src/sims/dynamics/World.scala
@@ -67,7 +67,7 @@ class World {
     for (j <- p.joints) this += j
   }
   
-  def ++=(bs: Seq[Body]) = for(b <- bs) this += b
+  def ++=(bs: Seq[Body]): Unit = for(b <- bs) this += b
   
   /**Entfernt den gegebenen Koerper aus dieser Welt.*/
   def -=(body: Body): Unit = bodies -= body
diff --git a/src/sims/dynamics/joints/SpringJoint.scala b/src/sims/dynamics/joints/SpringJoint.scala
index f03b35d..67ea57f 100644
--- a/src/sims/dynamics/joints/SpringJoint.scala
+++ b/src/sims/dynamics/joints/SpringJoint.scala
@@ -46,15 +46,39 @@ case class SpringJoint(node1: Body, anchor1: Vector2D, node2: Body, anchor2: Vec
   /**Relative Position der Bindungspunkte.*/
   def x = connection2 - connection1
   
+  /**Relative Geschwindigkeit der Bindungspunkte.*/
+  def v = node2.velocityOfPoint(connection2) - node1.velocityOfPoint(connection1)
+  
   /**Ergibt die Federkraft nach dem Hookschen Gesetz.*/
   def force = (x.length - initialLength) * springConstant
   
   /**Uebt die Federkraft auf die Bindungspunkte aus.*/
   def applyForce() = {
-    node1.applyForce(x.unit * force - ((node1 velocityOfPoint connection1) * damping) project x, connection1)
-    node2.applyForce(-x.unit * force - ((node2 velocityOfPoint connection2) * damping) project x, connection2)
+    node1.applyForce(x.unit * force - (v * damping) project x, connection1)
+    node2.applyForce(-x.unit * force - (v * damping) project x, connection2)
+    //println("this should not happen")
   }
   
-  def correctPosition(h: Double) = ()
-  def correctVelocity(h: Double) = ()
+  def correctVelocity(h: Double) = {
+    /*
+    val x = this.x	//relativer Abstand
+    val v = this.v	//relative Geschwindigkeit
+    val r1 = (connection1 - node1.pos)	//Abstand Punkt-Schwerpunkt, Koerper 1
+    val r2 = (connection2 - node2.pos)	//Abstand Punkt-Schwerpunkt, Koerper 2
+    val cr1 = r1 cross x.unit	//Kreuzprodukt
+    val cr2 = r2 cross x.unit	//Kreuzprodukt
+    val Cdot = x.unit dot v	//Velocity-Constraint
+    val invMass = 1/node1.mass + 1/node1.I * cr1 * cr1 + 1/node2.mass + 1/node2.I * cr2 * cr2	//=J M^-1 JT
+    val m = if (invMass == 0.0) 0.0 else 1/invMass	//Test um Nulldivision zu vermeiden
+    val lambda = Math.min(Math.max(-this.force * h, (-m * Cdot)), this.force * h)
+    println (force * h, -m * Cdot)
+    val impulse = x.unit * lambda
+    node1.applyImpulse(-impulse, connection1)
+    node2.applyImpulse(impulse, connection2)
+    */
+  }
+
+  def correctPosition(h: Double) = {
+    
+  }
 }
\ No newline at end of file
diff --git a/src/sims/dynamics/joints/test/PrismaticJoint.scala b/src/sims/dynamics/joints/test/PrismaticJoint.scala
new file mode 100644
index 0000000..f163261
--- /dev/null
+++ b/src/sims/dynamics/joints/test/PrismaticJoint.scala
@@ -0,0 +1,84 @@
+package sims.dynamics.joints.test
+
+import sims.geometry._
+
+case class PrismaticJoint(node1: Body, anchor1: Vector2D, node2: Body, anchor2: Vector2D) extends Joint{
+  def this(node1: Body, node2: Body) = this(node1, node1.pos, node2, node2.pos)
+  
+  val angle = node2.rotation - node1.rotation
+  
+  private val a1 = anchor1 - node1.pos
+  private val a2 = anchor2 - node2.pos
+  private val initRotation1 = node1.rotation
+  private val initRotation2 = node2.rotation
+  
+  def connection1 = (a1 rotate (node1.rotation - initRotation1)) + node1.pos
+  def connection2 = (a2 rotate (node2.rotation - initRotation2)) + node2.pos
+  
+  /**Relative Position der Bindungspunkte.*/
+  def x = connection2 - connection1
+  
+  /**Relative Geschwindigkeit der Bindungspunkte.*/
+  def v = node2.velocityOfPoint(connection2) - node1.velocityOfPoint(connection1)
+  
+  
+  def correctVelocity(h: Double) = {
+    correctLinear(h)
+    //correctAngular(h)
+  }
+  
+  def correctLinear(h: Double) = {
+    val x = this.x.unit	//relativer Abstand
+    val n0 = x.leftNormal
+    val v = this.v	//relative Geschwindigkeit
+    val r1 = (connection1 - node1.pos)	//Abstand Punkt-Schwerpunkt, Koerper 1
+    val r2 = (connection2 - node2.pos)	//Abstand Punkt-Schwerpunkt, Koerper 2
+    val cr1 = r1 cross n0	//Kreuzprodukt
+    val cr2 = r2 cross n0	//Kreuzprodukt
+    val Cdot = n0 dot v
+    val invMass = 1/node1.mass + 1/node1.I * cr1 * cr1 + 1/node2.mass + 1/node2.I * cr2 * cr2
+    val m = if (invMass == 0.0) 0.0 else 1/invMass
+    val impulse = -n0 * m * Cdot
+    node1.applyImpulse(-impulse, connection1)
+    node2.applyImpulse(impulse, connection2)
+  }
+  
+  //J=[-1,1]
+  
+  def correctAngular(h: Double) = {
+    val w = node2.angularVelocity - node1.angularVelocity
+    val Cdot = w
+    val invMass = node1.I + node2.I
+    val m = 1 / invMass
+    val lambda = m * Cdot
+    node1.angularVelocity += lambda / node1.I
+    node2.angularVelocity += -lambda / node2.I
+  }
+  
+  def correctPosition(h: Double) = {
+    /*
+    val x = this.x.unit	//relativer Abstand
+    val n0 = x.leftNormal
+    val v = this.v	//relative Geschwindigkeit
+    val r1 = (connection1 - node1.pos)	//Abstand Punkt-Schwerpunkt, Koerper 1
+    val r2 = (connection2 - node2.pos)	//Abstand Punkt-Schwerpunkt, Koerper 2
+    val cr1 = r1 cross n0	//Kreuzprodukt
+    val cr2 = r2 cross n0	//Kreuzprodukt
+    val C = n0 dot x
+    val invMass = 1/node1.mass + 1/node1.I * cr1 * cr1 + 1/node2.mass + 1/node2.I * cr2 * cr2
+    val m = if (invMass == 0.0) 0.0 else 1/invMass
+    val impulse = -n0 * m * C
+    node1.pos += -impulse
+    node1.rotation += -impulse cross r1
+    node2.pos += impulse
+    node2.rotation += impulse cross r2
+    
+    val relOmega = node2.angularVelocity - node2.angularVelocity
+    val invMassOmega = node1.I + node2.I
+    val mOmega = if (invMassOmega == 0.0) 0.0 else 1/invMassOmega
+    val Crot = node2.rotation - node2.rotation + angle 
+    node1.rotation += mOmega * Crot
+    node2.rotation += -mOmega * Crot
+      */
+  }
+}
diff --git a/src/sims/materials/Material.scala b/src/sims/materials/Material.scala
new file mode 100644
index 0000000..b05e082
--- /dev/null
+++ b/src/sims/materials/Material.scala
@@ -0,0 +1,7 @@
+package sims.materials
+
+trait Material {
+  val density: Double
+  val restitution: Double
+  val friction: Double
+}
diff --git a/src/sims/materials/Rubber.scala b/src/sims/materials/Rubber.scala
new file mode 100644
index 0000000..b408d2d
--- /dev/null
+++ b/src/sims/materials/Rubber.scala
@@ -0,0 +1,5 @@
+package sims.materials
+
+object Rubber {
+
+}
diff --git a/src/sims/materials/Steel.scala b/src/sims/materials/Steel.scala
new file mode 100644
index 0000000..71594b8
--- /dev/null
+++ b/src/sims/materials/Steel.scala
@@ -0,0 +1,5 @@
+package sims.materials
+
+object Steel {
+
+}
diff --git a/src/sims/prefabs/Ragdoll.scala b/src/sims/prefabs/Ragdoll.scala
index ad58653..00e4b8d 100644
--- a/src/sims/prefabs/Ragdoll.scala
+++ b/src/sims/prefabs/Ragdoll.scala
@@ -38,6 +38,6 @@ class Ragdoll(position: Vector2D) extends Prefab {
   
   val shoulder1 = RevoluteJoint(headTorso, upperArm1, position + Vector2D(0, -0.16))
   val shoulder2 = RevoluteJoint(headTorso, upperArm2, position + Vector2D(0, -0.16))
-  override val joints = List(shoulder1, shoulder2)
+  override val joints = Nil //List(shoulder1, shoulder2)
 
 }