Ported to scala 2.8.

author: Jakob Odersky <jodersky@gmail.com> 2009-12-13 16:06:50 +0000
committer: Jakob Odersky <jodersky@gmail.com> 2009-12-13 16:06:50 +0000
commit: 66d338aec5d632927fa561a68310c8931938e9e0 (patch)
tree: 1e200fd94bb903772b007690da4e5d13fc46fb5b /doc/sims
parent: be2ee4dea92c5a4fc2329959d6e7272c50b221a6 (diff)
download: sims-66d338aec5d632927fa561a68310c8931938e9e0.tar.gz
sims-66d338aec5d632927fa561a68310c8931938e9e0.tar.bz2
sims-66d338aec5d632927fa561a68310c8931938e9e0.zip
89 files changed, 12802 insertions, 15427 deletions
diff --git a/doc/sims/collision$content.html b/doc/sims/collision$content.html
deleted file mode 100644
index 1aa99c6..0000000
--- a/doc/sims/collision$content.html
+++ /dev/null
@@ -1,190 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>All classes and objects in sims.collision</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../script.js"></script>
-        </head>
-        <body onload="init()"><div class="page-title"><div>Simple Mechanics Simulator (SiMS) API</div></div><p><div>This document is the API specification for SiMS</div></p><table summary="" cellpadding="3" class="member">
-        <tr><td class="title" colspan="2">Class Summary</td></tr>
-        <tr>
-      <td class="modifiers" valign="top"> 
-        <code>case class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/collision/AABB.html" target="_self">AABB</a></em>
-        (<code>val </code><em>minVertex</em> : <a href="../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <code>val </code><em>maxVertex</em> : <a href="../sims/geometry/Vector2D.html" target="_self">Vector2D</a>)<code> extends </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a>
-        
-        <div>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.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>case class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/collision/CircleCollision.html" target="_self">CircleCollision</a></em>
-        (<code>val </code><em>c1</em> : <a href="../sims/dynamics/Circle.html" target="_self">Circle</a>, <code>val </code><em>c2</em> : <a href="../sims/dynamics/Circle.html" target="_self">Circle</a>)<code> extends </code><a href="../sims/collision/Collision.html" target="_self">Collision</a><code> with </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a>
-        
-        <div>Collision between two circles.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/collision/Collision.html" target="_self">Collision</a></em>
-        <code> extends </code><a href="../sims/dynamics/Constraint.html" target="_self">Constraint</a><code> with </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        
-        <div>Collision between two shapes. Contains methods to compute the collision response.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/collision/Detector.html" target="_self">Detector</a></em>
-        <code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        
-        <div>A world detects its collisions through concrete implementations of this class.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/collision/GridDetector.html" target="_self">GridDetector</a></em>
-        (<code>val override </code><em>world</em> : <a href="../sims/dynamics/World.html" target="_self">World</a>)<code> extends </code><a href="../sims/collision/Detector.html" target="_self">Detector</a>
-        
-        <div>A conrete implementation of <code>Detector</code>. <code>GridDetector</code> divides the world into a grid
- for faster collision detection.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>case class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/collision/Overlap.html" target="_self">Overlap</a></em>
-        (<code>val </code><em>poly</em> : <a href="../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a>, <code>val </code><em>sideNum</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>, <code>val </code><em>overlap</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>)<code> extends </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>case class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/collision/Pair.html" target="_self">Pair</a></em>
-        (<code>val </code><em>s1</em> : <a href="../sims/dynamics/Shape.html" target="_self">Shape</a>, <code>val </code><em>s2</em> : <a href="../sims/dynamics/Shape.html" target="_self">Shape</a>)<code> extends </code>(<a href="../sims/dynamics/Shape.html" target="_self">Shape</a>, <a href="../sims/dynamics/Shape.html" target="_self">Shape</a>)
-        
-        <div>Pair of shapes.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>case class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/collision/PolyCircleCollision.html" target="_self">PolyCircleCollision</a></em>
-        (<code>val </code><em>p</em> : <a href="../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a>, <code>val </code><em>c</em> : <a href="../sims/dynamics/Circle.html" target="_self">Circle</a>)<code> extends </code><a href="../sims/collision/Collision.html" target="_self">Collision</a><code> with </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a>
-        
-        <div>Collision between a convex polygon and a circle.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>case class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/collision/PolyCollision.html" target="_self">PolyCollision</a></em>
-        (<code>val </code><em>p1</em> : <a href="../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a>, <code>val </code><em>p2</em> : <a href="../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a>)<code> extends </code><a href="../sims/collision/Collision.html" target="_self">Collision</a><code> with </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a>
-        
-        <div>Collision between two convex polygons.</div>
-      </td>
-    </tr>        
-        </table>
-<table summary="" cellpadding="3" class="member">
-        <tr><td class="title" colspan="2">Object Summary</td></tr>
-        <tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/collision/AABB$object.html" target="_self">AABB</a></em>
-        <code> extends </code>(<a href="../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <a href="../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) =&gt; <a href="../sims/collision/AABB.html" target="_self">AABB</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/collision/CircleCollision$object.html" target="_self">CircleCollision</a></em>
-        <code> extends </code>(<a href="../sims/dynamics/Circle.html" target="_self">Circle</a>, <a href="../sims/dynamics/Circle.html" target="_self">Circle</a>) =&gt; <a href="../sims/collision/CircleCollision.html" target="_self">CircleCollision</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/collision/Collision$object.html" target="_self">Collision</a></em>
-        <code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/collision/Overlap$object.html" target="_self">Overlap</a></em>
-        <code> extends </code>(<a href="../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) =&gt; <a href="../sims/collision/Overlap.html" target="_self">Overlap</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/collision/Pair$object.html" target="_self">Pair</a></em>
-        <code> extends </code>(<a href="../sims/dynamics/Shape.html" target="_self">Shape</a>, <a href="../sims/dynamics/Shape.html" target="_self">Shape</a>) =&gt; <a href="../sims/collision/Pair.html" target="_self">Pair</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/collision/PolyCircleCollision$object.html" target="_self">PolyCircleCollision</a></em>
-        <code> extends </code>(<a href="../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a>, <a href="../sims/dynamics/Circle.html" target="_self">Circle</a>) =&gt; <a href="../sims/collision/PolyCircleCollision.html" target="_self">PolyCircleCollision</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/collision/PolyCollision$object.html" target="_self">PolyCollision</a></em>
-        <code> extends </code>(<a href="../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a>, <a href="../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a>) =&gt; <a href="../sims/collision/PolyCollision.html" target="_self">PolyCollision</a>
-        
-        
-      </td>
-    </tr>        
-        </table></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 0871d60..0000000
--- a/doc/sims/collision$package.html
+++ /dev/null
@@ -1,30 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>List of classes and objects in package sims.collision</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../script.js"></script>
-        </head>
-        <body onload="init()"><table summary="" class="navigation">
-          <tr><td class="navigation-links" valign="top">
-            <a href="../sims/collision$content.html" target="contentFrame">sims.collision</a>
-          </td></tr>
-        </table><div><div class="kinds" id="Classes">Classes</div><ul class="list">
-        <li id="Classes_A"><a href="../sims/collision/AABB.html" target="contentFrame">AABB</a></li>
-<li id="Classes_C"><a href="../sims/collision/CircleCollision.html" target="contentFrame">CircleCollision</a></li>
-<li><a href="../sims/collision/Collision.html" target="contentFrame">Collision</a></li>
-<li id="Classes_D"><a href="../sims/collision/Detector.html" target="contentFrame">Detector</a></li>
-<li id="Classes_G"><a href="../sims/collision/GridDetector.html" target="contentFrame">GridDetector</a></li>
-<li id="Classes_O"><a href="../sims/collision/Overlap.html" target="contentFrame">Overlap</a></li>
-<li id="Classes_P"><a href="../sims/collision/Pair.html" target="contentFrame">Pair</a></li>
-<li><a href="../sims/collision/PolyCircleCollision.html" target="contentFrame">PolyCircleCollision</a></li>
-<li><a href="../sims/collision/PolyCollision.html" target="contentFrame">PolyCollision</a></li>
-        </ul>
-<div class="kinds" id="Objects">Objects</div><ul class="list">
-        <li id="Objects_A"><a href="../sims/collision/AABB$object.html" target="contentFrame">AABB</a></li>
-<li id="Objects_C"><a href="../sims/collision/CircleCollision$object.html" target="contentFrame">CircleCollision</a></li>
-<li><a href="../sims/collision/Collision$object.html" target="contentFrame">Collision</a></li>
-<li id="Objects_O"><a href="../sims/collision/Overlap$object.html" target="contentFrame">Overlap</a></li>
-<li id="Objects_P"><a href="../sims/collision/Pair$object.html" target="contentFrame">Pair</a></li>
-<li><a href="../sims/collision/PolyCircleCollision$object.html" target="contentFrame">PolyCircleCollision</a></li>
-<li><a href="../sims/collision/PolyCollision$object.html" target="contentFrame">PolyCollision</a></li>
-        </ul></div></body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/collision/AABB$object.html b/doc/sims/collision/AABB$object.html
deleted file mode 100644
index 6d5d29d..0000000
--- a/doc/sims/collision/AABB$object.html
+++ /dev/null
@@ -1,82 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object AABB in sims.collision</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/collision$package.html" target="_self">sims.collision</a>
-        <br></br>
-        <span class="entity">object  AABB</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/collision/AABB"><code>sims/collision/AABB.scala</code></a>]
-      </div><hr></hr>
-      <a name="AABB"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>AABB</em>
-      </dt>
-      <dd><code> extends </code>(<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) =&gt; <a href="../../sims/collision/AABB.html" target="_self">AABB</a></dd>
-    </dl>
-      
-
-
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="" target="contentFrame" class="scala/Function2">scala.Function2</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="#toString" target="contentFrame" class="scala/Function2">scala.Function2.toString</a>, <a href="#curry" target="contentFrame" class="scala/Function2">scala.Function2.curry</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      
-
-
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/collision/AABB.html b/doc/sims/collision/AABB.html
index a687d9d..9666bff 100644
--- a/doc/sims/collision/AABB.html
+++ b/doc/sims/collision/AABB.html
@@ -1,308 +1,242 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class AABB in sims.collision</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
+        <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 onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/collision$package.html" target="_self">sims.collision</a>
-        <br></br>
-        <span class="entity">class  AABB</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/collision/AABB"><code>sims/collision/AABB.scala</code></a>]
-      </div><hr></hr>
-      <a name="AABB"></a><dl>
-      <dt>
-        
-        <code>case</code>
-        <code>class</code>
-        <em>AABB</em>(<code>val </code><em>minVertex</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <code>val </code><em>maxVertex</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>)
-      </dt>
-      <dd><code> extends </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a></dd>
-    </dl>
-      <dl><dd>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.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>minVertex - </code>Position vector of the bottom-left vertex</dd><dd><code>maxVertex - </code>Position vector of the upper-right vertex</dd></dl>
-    <dl>
-      <dt style="margin:10px 0 0 20px;"><b>Direct Known Subclasses:</b></dt>
-      <dd><a href="../../graphyx/graphics/GraphicalAABB.html" target="_self">GraphicalAABB</a></dd>
-      </dl><hr></hr>
+        <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>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/AABB.html#equals%28Any%29" target="_self">equals</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/AABB.html#hashCode%28%29" target="_self">hashCode</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        <div>Returns a hash code value for the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/AABB.html#overlaps%28sims.collision.AABB%29" target="_self">overlaps</a></em>
-        (<em>box</em> : <a href="../../sims/collision/AABB.html" target="_self">AABB</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>Checks this AABB with <code>box</code> for overlap.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/AABB.html#productArity" target="_self">productArity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/AABB.html#productElement%28Int%29" target="_self">productElement</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/AABB.html#productPrefix" target="_self">productPrefix</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/AABB.html#toString%28%29" target="_self">toString</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        <div>Returns a string representation of the object.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
+      <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>
       
-
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="overlaps%28sims.collision.AABB%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>overlaps</em>(<em>box</em> : <a href="../../sims/collision/AABB.html" target="_self">AABB</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Checks this AABB with <code>box</code> for overlap.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>box - </code>AABB with which to check for overlap</dd></dl>
-    <hr></hr>
-<a name="hashCode%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>hashCode</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a hash code value for the object.  
-    <p>
-    The default hashing algorithm is platform dependent.  
-    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></dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>the hash code value for the object.      </p></dd></dl>
-    <hr></hr>
-<a name="toString%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>toString</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a string representation of the object.  
-    <p>
-    The default representation is platform dependent.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>a string representation of the object.     </p></dd></dl>
-    <hr></hr>
-<a name="equals%28Any%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>equals</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.  
-    
-    <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>
-    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>).</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>arg0 - </code>the object to compare against this object for equality.</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.    </p></dd></dl>
-    <hr></hr>
-<a name="productPrefix"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productPrefix</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productPrefix" target="contentFrame" class="scala/Product">scala.Product.productPrefix</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productArity"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productArity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productArity" target="contentFrame" class="scala/Product">scala.Product.productArity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productElement%28Int%29"></a><dl>
-      <dt>
+      
+      <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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productElement</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productElement" target="contentFrame" class="scala/Product">scala.Product.productElement</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/collision/CircleCollision$object.html b/doc/sims/collision/CircleCollision$object.html
deleted file mode 100644
index c175c15..0000000
--- a/doc/sims/collision/CircleCollision$object.html
+++ /dev/null
@@ -1,82 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object CircleCollision in sims.collision</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/collision$package.html" target="_self">sims.collision</a>
-        <br></br>
-        <span class="entity">object  CircleCollision</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/collision/CircleCollision"><code>sims/collision/CircleCollision.scala</code></a>]
-      </div><hr></hr>
-      <a name="CircleCollision"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>CircleCollision</em>
-      </dt>
-      <dd><code> extends </code>(<a href="../../sims/dynamics/Circle.html" target="_self">Circle</a>, <a href="../../sims/dynamics/Circle.html" target="_self">Circle</a>) =&gt; <a href="../../sims/collision/CircleCollision.html" target="_self">CircleCollision</a></dd>
-    </dl>
-      
-
-
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="" target="contentFrame" class="scala/Function2">scala.Function2</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="#toString" target="contentFrame" class="scala/Function2">scala.Function2.toString</a>, <a href="#curry" target="contentFrame" class="scala/Function2">scala.Function2.curry</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      
-
-
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/collision/CircleCollision.html b/doc/sims/collision/CircleCollision.html
index e26027f..80e6b4d 100644
--- a/doc/sims/collision/CircleCollision.html
+++ b/doc/sims/collision/CircleCollision.html
@@ -1,409 +1,321 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class CircleCollision in sims.collision</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/collision$package.html" target="_self">sims.collision</a>
-        <br></br>
-        <span class="entity">class  CircleCollision</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/collision/CircleCollision"><code>sims/collision/CircleCollision.scala</code></a>]
-      </div><hr></hr>
-      <a name="CircleCollision"></a><dl>
-      <dt>
-        
-        <code>case</code>
-        <code>class</code>
-        <em>CircleCollision</em>(<code>val </code><em>c1</em> : <a href="../../sims/dynamics/Circle.html" target="_self">Circle</a>, <code>val </code><em>c2</em> : <a href="../../sims/dynamics/Circle.html" target="_self">Circle</a>)
-      </dt>
-      <dd><code> extends </code><a href="../../sims/collision/Collision.html" target="_self">Collision</a><code> with </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a></dd>
-    </dl>
-      <dl><dd>Collision between two circles.</dd></dl>
-      <dl></dl>
+        <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>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/CircleCollision.html#normal" target="_self">normal</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Normal vector to the collision face.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/CircleCollision.html#points" target="_self">points</a></em>
-         : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>]
-        
-        <div>Collision points.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/CircleCollision.html#shape1" target="_self">shape1</a></em>
-         : <a href="../../sims/dynamics/Circle.html" target="_self">Circle</a>
-        
-        <div>First colliding shape (reference shape).</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/CircleCollision.html#shape2" target="_self">shape2</a></em>
-         : <a href="../../sims/dynamics/Circle.html" target="_self">Circle</a>
-        
-        <div>Second colliding shape (incident shape).</div>
-      </td>
-    </tr>
-      </table>
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/CircleCollision.html#equals%28Any%29" target="_self">equals</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/CircleCollision.html#hashCode%28%29" target="_self">hashCode</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        <div>Returns a hash code value for the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/CircleCollision.html#productArity" target="_self">productArity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/CircleCollision.html#productElement%28Int%29" target="_self">productElement</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/CircleCollision.html#productPrefix" target="_self">productPrefix</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/CircleCollision.html#toString%28%29" target="_self">toString</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        <div>Returns a string representation of the object.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="../../sims/collision/Collision.html" target="_self">Collision</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="../../sims/collision/Collision.html#correctVelocity%28Double%29" target="_self">correctVelocity</a>, <a href="../../sims/collision/Collision.html#correctFriction%28sims.geometry.Vector2D%2CDouble%2CDouble%29" target="_self">correctFriction</a>, <a href="../../sims/collision/Collision.html#correctPosition%28Double%29" target="_self">correctPosition</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
+      <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>
       
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="shape1"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>shape1</em> : <a href="../../sims/dynamics/Circle.html" target="_self">Circle</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>First colliding shape (reference shape).</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/collision/Collision.html" target="_self">Collision</a>.<a href="../../sims/collision/Collision.html#shape1" target="_self">shape1</a>
-        </dd>
-      </dl><hr></hr>
-<a name="shape2"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>shape2</em> : <a href="../../sims/dynamics/Circle.html" target="_self">Circle</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Second colliding shape (incident shape).</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/collision/Collision.html" target="_self">Collision</a>.<a href="../../sims/collision/Collision.html#shape2" target="_self">shape2</a>
-        </dd>
-      </dl><hr></hr>
-<a name="normal"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>normal</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Normal vector to the collision face.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/collision/Collision.html" target="_self">Collision</a>.<a href="../../sims/collision/Collision.html#normal" target="_self">normal</a>
-        </dd>
-      </dl><hr></hr>
-<a name="points"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>points</em> : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Collision points.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/collision/Collision.html" target="_self">Collision</a>.<a href="../../sims/collision/Collision.html#points" target="_self">points</a>
-        </dd>
-      </dl><hr></hr></div>
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="hashCode%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>hashCode</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a hash code value for the object.  
-    <p>
-    The default hashing algorithm is platform dependent.  
-    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></dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>the hash code value for the object.      </p></dd></dl>
-    <hr></hr>
-<a name="toString%28%29"></a><dl>
-      <dt>
+      
+      
+      
+    </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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>toString</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a string representation of the object.  
-    <p>
-    The default representation is platform dependent.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>a string representation of the object.     </p></dd></dl>
-    <hr></hr>
-<a name="equals%28Any%29"></a><dl>
-      <dt>
         
-        <code>override</code>
-        <code>def</code>
-        <em>equals</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.  
-    
-    <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>
-    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>).</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>arg0 - </code>the object to compare against this object for equality.</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.    </p></dd></dl>
-    <hr></hr>
-<a name="productPrefix"></a><dl>
-      <dt>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productPrefix</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productPrefix" target="contentFrame" class="scala/Product">scala.Product.productPrefix</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productArity"></a><dl>
-      <dt>
+        <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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productArity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productArity" target="contentFrame" class="scala/Product">scala.Product.productArity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productElement%28Int%29"></a><dl>
-      <dt>
+        <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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productElement</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productElement" target="contentFrame" class="scala/Product">scala.Product.productElement</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/collision/Collision$.html b/doc/sims/collision/Collision$.html
new file mode 100644
index 0000000..a7c64d8
--- /dev/null
+++ b/doc/sims/collision/Collision$.html
@@ -0,0 +1,162 @@
+<?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$object.html b/doc/sims/collision/Collision$object.html
deleted file mode 100644
index 0d02762..0000000
--- a/doc/sims/collision/Collision$object.html
+++ /dev/null
@@ -1,101 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object Collision in sims.collision</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/collision$package.html" target="_self">sims.collision</a>
-        <br></br>
-        <span class="entity">object  Collision</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/collision/Collision"><code>sims/collision/Collision.scala</code></a>]
-      </div><hr></hr>
-      <a name="Collision"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>Collision</em>
-      </dt>
-      <dd><code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a></dd>
-    </dl>
-      
-
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/Collision$object.html#ToleratedOverlap" target="_self">ToleratedOverlap</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Tolerated overlap. Collision response will only be applied if the overlap of two shapes exceeds the tolerated overlap.</div>
-      </td>
-    </tr>
-      </table>
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#toString%28%29" target="_self">toString</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="ToleratedOverlap"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>ToleratedOverlap</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Tolerated overlap. Collision response will only be applied if the overlap of two shapes exceeds the tolerated overlap.</dd></dl>
-      <dl></dl>
-    <hr></hr></div>
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/collision/Collision.html b/doc/sims/collision/Collision.html
index 028dc09..c74223c 100644
--- a/doc/sims/collision/Collision.html
+++ b/doc/sims/collision/Collision.html
@@ -1,261 +1,263 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class Collision in sims.collision</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
+        <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 onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/collision$package.html" target="_self">sims.collision</a>
-        <br></br>
-        <span class="entity">class  Collision</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/collision/Collision"><code>sims/collision/Collision.scala</code></a>]
-      </div><hr></hr>
-      <a name="Collision"></a><dl>
-      <dt>
-        
-        <code>abstract</code>
-        <code>class</code>
-        <em>Collision</em>
-      </dt>
-      <dd><code> extends </code><a href="../../sims/dynamics/Constraint.html" target="_self">Constraint</a><code> with </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a></dd>
-    </dl>
-      <dl><dd>Collision between two shapes. Contains methods to compute the collision response.</dd></dl>
-      <dl></dl>
-    <dl>
-      <dt style="margin:10px 0 0 20px;"><b>Direct Known Subclasses:</b></dt>
-      <dd><a href="../../sims/collision/CircleCollision.html" target="_self">CircleCollision</a>, <a href="../../sims/collision/PolyCircleCollision.html" target="_self">PolyCircleCollision</a>, <a href="../../sims/collision/PolyCollision.html" target="_self">PolyCollision</a></dd>
-      </dl><hr></hr>
+        <body class="type">
       
+      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">collision</a></p>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/Collision.html#normal" target="_self">normal</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Normal vector to the collision face.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/Collision.html#points" target="_self">points</a></em>
-         : <a href="" target="contentFrame" class="scala/Iterable">scala.Iterable</a>[<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>]
-        
-        <div>Collision points.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/Collision.html#shape1" target="_self">shape1</a></em>
-         : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>
-        
-        <div>First colliding shape (reference shape).</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/Collision.html#shape2" target="_self">shape2</a></em>
-         : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>
-        
-        <div>Second colliding shape (incident shape).</div>
-      </td>
-    </tr>
-      </table>
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/Collision.html#correctFriction%28sims.geometry.Vector2D%2CDouble%2CDouble%29" target="_self">correctFriction</a></em>
-        (<em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <em>normalForce</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/Collision.html#correctPosition%28Double%29" target="_self">correctPosition</a></em>
-        (<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Corrects the positions of bodies according to this constraint.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/Collision.html#correctVelocity%28Double%29" target="_self">correctVelocity</a></em>
-        (<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Corrects the velocities of bodies according to this constraint.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#toString%28%29" target="_self">toString</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
+      <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>
       
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="shape1"></a><dl>
-      <dt>
-        
-        <code>abstract</code>
-        <code>val</code>
-        <em>shape1</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>First colliding shape (reference shape).</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="shape2"></a><dl>
-      <dt>
-        
-        <code>abstract</code>
-        <code>val</code>
-        <em>shape2</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Second colliding shape (incident shape).</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="points"></a><dl>
-      <dt>
+      <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>
         
-        <code>abstract</code>
-        <code>val</code>
-        <em>points</em> : <a href="" target="contentFrame" class="scala/Iterable">scala.Iterable</a>[<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Collision points.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="normal"></a><dl>
-      <dt>
         
-        <code>abstract</code>
-        <code>val</code>
-        <em>normal</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Normal vector to the collision face.</dd></dl>
-      <dl></dl>
-    <hr></hr></div>
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="correctVelocity%28Double%29"></a><dl>
-      <dt>
         
-        <code></code>
-        <code>def</code>
-        <em>correctVelocity</em>(<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Corrects the velocities of bodies according to this constraint.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>h - </code>a time interval, used for converting forces and impulses</dd></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/dynamics/Constraint.html" target="_self">Constraint</a>.<a href="../../sims/dynamics/Constraint.html#correctVelocity%28Double%29" target="_self">correctVelocity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="correctFriction%28sims.geometry.Vector2D%2CDouble%2CDouble%29"></a><dl>
-      <dt>
+        <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>
         
-        <code></code>
-        <code>def</code>
-        <em>correctFriction</em>(<em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <em>normalForce</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="correctPosition%28Double%29"></a><dl>
-      <dt>
+        <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>
         
-        <code></code>
-        <code>def</code>
-        <em>correctPosition</em>(<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Corrects the positions of bodies according to this constraint.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>h - </code>a time interval, used for converting forces and impulses</dd></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/dynamics/Constraint.html" target="_self">Constraint</a>.<a href="../../sims/dynamics/Constraint.html#correctPosition%28Double%29" target="_self">correctPosition</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/collision/Detector.html b/doc/sims/collision/Detector.html
index ad93c73..c858df8 100644
--- a/doc/sims/collision/Detector.html
+++ b/doc/sims/collision/Detector.html
@@ -1,133 +1,195 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class Detector in sims.collision</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
+        <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 onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/collision$package.html" target="_self">sims.collision</a>
-        <br></br>
-        <span class="entity">class  Detector</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/collision/Detector"><code>sims/collision/Detector.scala</code></a>]
-      </div><hr></hr>
-      <a name="Detector"></a><dl>
-      <dt>
-        
-        <code>abstract</code>
-        <code>class</code>
-        <em>Detector</em>
-      </dt>
-      <dd><code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a></dd>
-    </dl>
-      <dl><dd>A world detects its collisions through concrete implementations of this class.</dd></dl>
-      <dl></dl>
-    <dl>
-      <dt style="margin:10px 0 0 20px;"><b>Direct Known Subclasses:</b></dt>
-      <dd><a href="../../sims/collision/GridDetector.html" target="_self">GridDetector</a></dd>
-      </dl><hr></hr>
+        <body class="type">
       
+      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">collision</a></p>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/Detector.html#world" target="_self">world</a></em>
-         : <a href="../../sims/dynamics/World.html" target="_self">World</a>
+      <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>The world whose shapes are to be checked for collisions.</div>
-      </td>
-    </tr>
-      </table>
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/Detector.html#collisions" target="_self">collisions</a></em>
-         : <a href="" target="contentFrame" class="scala/Seq">scala.Seq</a>[<a href="../../sims/collision/Collision.html" target="_self">Collision</a>]
         
-        <div>Returns all collisions between shapes in the world <code>world</code>.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#toString%28%29" target="_self">toString</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
+        
+        <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>
       
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="world"></a><dl>
-      <dt>
+      <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>
         
-        <code>abstract</code>
-        <code>val</code>
-        <em>world</em> : <a href="../../sims/dynamics/World.html" target="_self">World</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>The world whose shapes are to be checked for collisions.</dd></dl>
-      <dl></dl>
-    <hr></hr></div>
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="collisions"></a><dl>
-      <dt>
+        <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>
         
-        <code>abstract</code>
-        <code>def</code>
-        <em>collisions</em> : <a href="" target="contentFrame" class="scala/Seq">scala.Seq</a>[<a href="../../sims/collision/Collision.html" target="_self">Collision</a>]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns all collisions between shapes in the world <code>world</code>.</dd></dl>
-      <dl></dl>
-    <hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/collision/GridDetector.html b/doc/sims/collision/GridDetector.html
index 9007d31..6cdaad7 100644
--- a/doc/sims/collision/GridDetector.html
+++ b/doc/sims/collision/GridDetector.html
@@ -1,311 +1,317 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class GridDetector in sims.collision</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/collision$package.html" target="_self">sims.collision</a>
-        <br></br>
-        <span class="entity">class  GridDetector</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/collision/GridDetector"><code>sims/collision/GridDetector.scala</code></a>]
-      </div><hr></hr>
-      <a name="GridDetector"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>class</code>
-        <em>GridDetector</em>(<code>val override </code><em>world</em> : <a href="../../sims/dynamics/World.html" target="_self">World</a>)
-      </dt>
-      <dd><code> extends </code><a href="../../sims/collision/Detector.html" target="_self">Detector</a></dd>
-    </dl>
-      <dl><dd>A conrete implementation of <code>Detector</code>. <code>GridDetector</code> divides the world into a grid
- for faster collision detection.</dd></dl>
-      <dl></dl>
+        <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>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/GridDetector.html#collisionMethods" target="_self">collisionMethods</a></em>
-         : <a href="" target="contentFrame" class="scala/collection/mutable/ArrayBuffer">scala.collection.mutable.ArrayBuffer</a>[<a href="" target="contentFrame" class="scala/PartialFunction">scala.PartialFunction</a>[(<a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>, <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>), <a href="../../sims/collision/Collision.html" target="_self">Collision</a>]]
-        
-        <div>Array of methods returning collisions. It is assumed that both shapes are colliding.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/GridDetector.html#detectionMethods" target="_self">detectionMethods</a></em>
-         : <a href="" target="contentFrame" class="scala/collection/mutable/ArrayBuffer">scala.collection.mutable.ArrayBuffer</a>[<a href="" target="contentFrame" class="scala/PartialFunction">scala.PartialFunction</a>[(<a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>, <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>), <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>]]
-        
-        <div>Array of collision detection methods. These methods return <code>true</code> if two shapes are colliding.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/GridDetector.html#gridSide" target="_self">gridSide</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Width and height of a grid cell.</div>
-      </td>
-    </tr>
-      </table>
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/GridDetector.html#colliding%28sims.collision.Pair%29" target="_self">colliding</a></em>
-        (<em>p</em> : <a href="../../sims/collision/Pair.html" target="_self">Pair</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>Checks the pair of shapes <code>p</code> for collision.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/GridDetector.html#collidingPairs" target="_self">collidingPairs</a></em>
-         : <a href="" target="contentFrame" class="scala/Seq">scala.Seq</a>[<a href="../../sims/collision/Pair.html" target="_self">Pair</a>]
-        
-        <div>Returns all colliding pairs.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/GridDetector.html#collision%28sims.collision.Pair%29" target="_self">collision</a></em>
-        (<em>p</em> : <a href="../../sims/collision/Pair.html" target="_self">Pair</a>) : <a href="../../sims/collision/Collision.html" target="_self">Collision</a>
-        
-        <div>Returns the collision between both shapes of the pair <code>p</code>.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/GridDetector.html#collisions" target="_self">collisions</a></em>
-         : <a href="" target="contentFrame" class="scala/Seq">scala.Seq</a>[<a href="../../sims/collision/Collision.html" target="_self">Collision</a>]
-        
-        <div>Returns all collisions.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/GridDetector.html#getPairs" target="_self">getPairs</a></em>
-         : <a href="" target="contentFrame" class="scala/Seq">scala.Seq</a>[<a href="../../sims/collision/Pair.html" target="_self">Pair</a>]
-        
-        <div>Returns potential colliding pairs of shapes of the world <code>world</code>.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/GridDetector.html#pairs" target="_self">pairs</a></em>
-         : <a href="" target="contentFrame" class="scala/Seq">scala.Seq</a>[<a href="../../sims/collision/Pair.html" target="_self">Pair</a>]
-        
-        <div>All potential colliding pairs of the world.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#toString%28%29" target="_self">toString</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
+      <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>
       
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="detectionMethods"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>detectionMethods</em> : <a href="" target="contentFrame" class="scala/collection/mutable/ArrayBuffer">scala.collection.mutable.ArrayBuffer</a>[<a href="" target="contentFrame" class="scala/PartialFunction">scala.PartialFunction</a>[(<a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>, <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>), <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>]]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Array of collision detection methods. These methods return <code>true</code> if two shapes are colliding.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="collisionMethods"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>collisionMethods</em> : <a href="" target="contentFrame" class="scala/collection/mutable/ArrayBuffer">scala.collection.mutable.ArrayBuffer</a>[<a href="" target="contentFrame" class="scala/PartialFunction">scala.PartialFunction</a>[(<a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>, <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>), <a href="../../sims/collision/Collision.html" target="_self">Collision</a>]]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Array of methods returning collisions. It is assumed that both shapes are colliding.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="gridSide"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>gridSide</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Width and height of a grid cell.</dd></dl>
-      <dl></dl>
-    <hr></hr></div>
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="colliding%28sims.collision.Pair%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>colliding</em>(<em>p</em> : <a href="../../sims/collision/Pair.html" target="_self">Pair</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Checks the pair of shapes <code>p</code> for collision.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>p - </code>Pair of shapes.</dd></dl>
-    <hr></hr>
-<a name="collision%28sims.collision.Pair%29"></a><dl>
-      <dt>
+      
+      
+      
+    </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>
         
-        <code></code>
-        <code>def</code>
-        <em>collision</em>(<em>p</em> : <a href="../../sims/collision/Pair.html" target="_self">Pair</a>) : <a href="../../sims/collision/Collision.html" target="_self">Collision</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns the collision between both shapes of the pair <code>p</code>.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>p - </code>Pair of shapes.</dd></dl>
-    <hr></hr>
-<a name="getPairs"></a><dl>
-      <dt>
         
-        <code></code>
-        <code>def</code>
-        <em>getPairs</em> : <a href="" target="contentFrame" class="scala/Seq">scala.Seq</a>[<a href="../../sims/collision/Pair.html" target="_self">Pair</a>]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>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></dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="pairs"></a><dl>
-      <dt>
         
-        <code></code>
-        <code>def</code>
-        <em>pairs</em> : <a href="" target="contentFrame" class="scala/Seq">scala.Seq</a>[<a href="../../sims/collision/Pair.html" target="_self">Pair</a>]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>All potential colliding pairs of the world.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>See Also</b></dt><dd>getPairs</dd></dl>
-    <hr></hr>
-<a name="collidingPairs"></a><dl>
-      <dt>
+        <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>
         
-        <code></code>
-        <code>def</code>
-        <em>collidingPairs</em> : <a href="" target="contentFrame" class="scala/Seq">scala.Seq</a>[<a href="../../sims/collision/Pair.html" target="_self">Pair</a>]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns all colliding pairs.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="collisions"></a><dl>
-      <dt>
+        <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>
         
-        <code></code>
-        <code>def</code>
-        <em>collisions</em> : <a href="" target="contentFrame" class="scala/Seq">scala.Seq</a>[<a href="../../sims/collision/Collision.html" target="_self">Collision</a>]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns all collisions.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/collision/Detector.html" target="_self">Detector</a>.<a href="../../sims/collision/Detector.html#collisions" target="_self">collisions</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/collision/Overlap$object.html b/doc/sims/collision/Overlap$object.html
deleted file mode 100644
index 0989c48..0000000
--- a/doc/sims/collision/Overlap$object.html
+++ /dev/null
@@ -1,82 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object Overlap in sims.collision</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/collision$package.html" target="_self">sims.collision</a>
-        <br></br>
-        <span class="entity">object  Overlap</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/collision/Overlap"><code>sims/collision/Overlap.scala</code></a>]
-      </div><hr></hr>
-      <a name="Overlap"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>Overlap</em>
-      </dt>
-      <dd><code> extends </code>(<a href="../../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) =&gt; <a href="../../sims/collision/Overlap.html" target="_self">Overlap</a></dd>
-    </dl>
-      
-
-
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="" target="contentFrame" class="scala/Function3">scala.Function3</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="#toString" target="contentFrame" class="scala/Function3">scala.Function3.toString</a>, <a href="#curry" target="contentFrame" class="scala/Function3">scala.Function3.curry</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      
-
-
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/collision/Overlap.html b/doc/sims/collision/Overlap.html
index f76df7e..b6f9960 100644
--- a/doc/sims/collision/Overlap.html
+++ b/doc/sims/collision/Overlap.html
@@ -1,276 +1,233 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class Overlap in sims.collision</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
+        <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 onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/collision$package.html" target="_self">sims.collision</a>
-        <br></br>
-        <span class="entity">class  Overlap</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/collision/Overlap"><code>sims/collision/Overlap.scala</code></a>]
-      </div><hr></hr>
-      <a name="Overlap"></a><dl>
-      <dt>
-        
-        <code>case</code>
-        <code>class</code>
-        <em>Overlap</em>(<code>val </code><em>poly</em> : <a href="../../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a>, <code>val </code><em>sideNum</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>, <code>val </code><em>overlap</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>)
-      </dt>
-      <dd><code> extends </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a></dd>
-    </dl>
+        <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>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/Overlap.html#equals%28Any%29" target="_self">equals</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/Overlap.html#hashCode%28%29" target="_self">hashCode</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        <div>Returns a hash code value for the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/Overlap.html#productArity" target="_self">productArity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/Overlap.html#productElement%28Int%29" target="_self">productElement</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/Overlap.html#productPrefix" target="_self">productPrefix</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/Overlap.html#toString%28%29" target="_self">toString</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        <div>Returns a string representation of the object.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
+      <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">
       
-
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="hashCode%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>hashCode</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a hash code value for the object.  
-    <p>
-    The default hashing algorithm is platform dependent.  
-    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></dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>the hash code value for the object.      </p></dd></dl>
-    <hr></hr>
-<a name="toString%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>toString</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a string representation of the object.  
-    <p>
-    The default representation is platform dependent.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>a string representation of the object.     </p></dd></dl>
-    <hr></hr>
-<a name="equals%28Any%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>equals</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.  
-    
-    <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>
-    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>).</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>arg0 - </code>the object to compare against this object for equality.</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.    </p></dd></dl>
-    <hr></hr>
-<a name="productPrefix"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productPrefix</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productPrefix" target="contentFrame" class="scala/Product">scala.Product.productPrefix</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productArity"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productArity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productArity" target="contentFrame" class="scala/Product">scala.Product.productArity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productElement%28Int%29"></a><dl>
-      <dt>
+      
+      
+      
+      
+    </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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productElement</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productElement" target="contentFrame" class="scala/Product">scala.Product.productElement</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/collision/Pair$object.html b/doc/sims/collision/Pair$object.html
deleted file mode 100644
index fab5d78..0000000
--- a/doc/sims/collision/Pair$object.html
+++ /dev/null
@@ -1,82 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object Pair in sims.collision</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/collision$package.html" target="_self">sims.collision</a>
-        <br></br>
-        <span class="entity">object  Pair</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/collision/Pair"><code>sims/collision/Pair.scala</code></a>]
-      </div><hr></hr>
-      <a name="Pair"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>Pair</em>
-      </dt>
-      <dd><code> extends </code>(<a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>, <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>) =&gt; <a href="../../sims/collision/Pair.html" target="_self">Pair</a></dd>
-    </dl>
-      
-
-
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="" target="contentFrame" class="scala/Function2">scala.Function2</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="#toString" target="contentFrame" class="scala/Function2">scala.Function2.toString</a>, <a href="#curry" target="contentFrame" class="scala/Function2">scala.Function2.curry</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      
-
-
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/collision/Pair.html b/doc/sims/collision/Pair.html
index e210fc9..af5a434 100644
--- a/doc/sims/collision/Pair.html
+++ b/doc/sims/collision/Pair.html
@@ -1,257 +1,274 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class Pair in sims.collision</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/collision$package.html" target="_self">sims.collision</a>
-        <br></br>
-        <span class="entity">class  Pair</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/collision/Pair"><code>sims/collision/Pair.scala</code></a>]
-      </div><hr></hr>
-      <a name="Pair"></a><dl>
-      <dt>
-        
-        <code>case</code>
-        <code>class</code>
-        <em>Pair</em>(<code>val </code><em>s1</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>, <code>val </code><em>s2</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>)
-      </dt>
-      <dd><code> extends </code>(<a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>, <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>)</dd>
-    </dl>
-      <dl><dd>Pair of shapes.</dd></dl>
-      <dl></dl>
+        <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>
     
-      <table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Additional Constructor Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/Pair.html#this%28%28sims.dynamics.Shape%2Csims.dynamics.Shape%29%29" target="_self">this</a></em>
-        (<em>t</em> : (<a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>, <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>)) : <a href="../../sims/collision/Pair.html" target="_self">Pair</a>
-        
-        
-      </td>
-    </tr>
-      </table>
-
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Values and Variables inherited from <a href="" target="contentFrame" class="scala/Tuple2">scala.Tuple2</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="#_1" target="contentFrame" class="scala/Tuple2">scala.Tuple2._1</a>, <a href="#_2" target="contentFrame" class="scala/Tuple2">scala.Tuple2._2</a>
-        </td></tr>
-      </table>
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/Pair.html#equals%28Any%29" target="_self">equals</a></em>
-        (<em>other</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/Pair.html#hashCode%28%29" target="_self">hashCode</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        <div>Returns a hash code value for the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/Pair.html#productPrefix" target="_self">productPrefix</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="" target="contentFrame" class="scala/Tuple2">scala.Tuple2</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="#toString" target="contentFrame" class="scala/Tuple2">scala.Tuple2.toString</a>, <a href="#swap" target="contentFrame" class="scala/Tuple2">scala.Tuple2.swap</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="" target="contentFrame" class="scala/Product2">scala.Product2</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="#productArity" target="contentFrame" class="scala/Product2">scala.Product2.productArity</a>, <a href="#productElement" target="contentFrame" class="scala/Product2">scala.Product2.productElement</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
+        </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>
 
-      <table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Additional Constructor Details</td></tr>
-        </table><div><a name="this%28%28sims.dynamics.Shape%2Csims.dynamics.Shape%29%29"></a><dl>
-      <dt>
+      <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>
         
-        <code></code>
-        <code>def</code>
-        <em>this</em>(<em>t</em> : (<a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>, <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>)) : <a href="../../sims/collision/Pair.html" target="_self">Pair</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr></div>
-
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="equals%28Any%29"></a><dl>
-      <dt>
         
-        <code>override</code>
-        <code>def</code>
-        <em>equals</em>(<em>other</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.  
-    
-    <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>
-    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>).</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>arg0 - </code>the object to compare against this object for equality.</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.    </p></dd></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Tuple2">scala.Tuple2</a>.<a href="#equals" target="contentFrame" class="scala/Tuple2">scala.Tuple2.equals</a>
-        </dd>
-      </dl><hr></hr>
-<a name="hashCode%28%29"></a><dl>
-      <dt>
         
-        <code>override</code>
-        <code>def</code>
-        <em>hashCode</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a hash code value for the object.  
-    <p>
-    The default hashing algorithm is platform dependent.  
-    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></dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>the hash code value for the object.      </p></dd></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Tuple2">scala.Tuple2</a>.<a href="#hashCode" target="contentFrame" class="scala/Tuple2">scala.Tuple2.hashCode</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productPrefix"></a><dl>
-      <dt>
+        <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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productPrefix</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Tuple2">scala.Tuple2</a>.<a href="#productPrefix" target="contentFrame" class="scala/Tuple2">scala.Tuple2.productPrefix</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+        <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$object.html b/doc/sims/collision/PolyCircleCollision$object.html
deleted file mode 100644
index 7ccdcf3..0000000
--- a/doc/sims/collision/PolyCircleCollision$object.html
+++ /dev/null
@@ -1,82 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object PolyCircleCollision in sims.collision</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/collision$package.html" target="_self">sims.collision</a>
-        <br></br>
-        <span class="entity">object  PolyCircleCollision</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/collision/PolyCircleCollision"><code>sims/collision/PolyCircleCollision.scala</code></a>]
-      </div><hr></hr>
-      <a name="PolyCircleCollision"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>PolyCircleCollision</em>
-      </dt>
-      <dd><code> extends </code>(<a href="../../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a>, <a href="../../sims/dynamics/Circle.html" target="_self">Circle</a>) =&gt; <a href="../../sims/collision/PolyCircleCollision.html" target="_self">PolyCircleCollision</a></dd>
-    </dl>
-      
-
-
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="" target="contentFrame" class="scala/Function2">scala.Function2</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="#toString" target="contentFrame" class="scala/Function2">scala.Function2.toString</a>, <a href="#curry" target="contentFrame" class="scala/Function2">scala.Function2.curry</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      
-
-
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/collision/PolyCircleCollision.html b/doc/sims/collision/PolyCircleCollision.html
index 3b1d094..fc31ca6 100644
--- a/doc/sims/collision/PolyCircleCollision.html
+++ b/doc/sims/collision/PolyCircleCollision.html
@@ -1,409 +1,321 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class PolyCircleCollision in sims.collision</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/collision$package.html" target="_self">sims.collision</a>
-        <br></br>
-        <span class="entity">class  PolyCircleCollision</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/collision/PolyCircleCollision"><code>sims/collision/PolyCircleCollision.scala</code></a>]
-      </div><hr></hr>
-      <a name="PolyCircleCollision"></a><dl>
-      <dt>
-        
-        <code>case</code>
-        <code>class</code>
-        <em>PolyCircleCollision</em>(<code>val </code><em>p</em> : <a href="../../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a>, <code>val </code><em>c</em> : <a href="../../sims/dynamics/Circle.html" target="_self">Circle</a>)
-      </dt>
-      <dd><code> extends </code><a href="../../sims/collision/Collision.html" target="_self">Collision</a><code> with </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a></dd>
-    </dl>
-      <dl><dd>Collision between a convex polygon and a circle.</dd></dl>
-      <dl></dl>
+        <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>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCircleCollision.html#normal" target="_self">normal</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Normal vector to the collision face.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCircleCollision.html#points" target="_self">points</a></em>
-         : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>]
-        
-        <div>Collision points.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCircleCollision.html#shape1" target="_self">shape1</a></em>
-         : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>
-        
-        <div>First colliding shape (reference shape).</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCircleCollision.html#shape2" target="_self">shape2</a></em>
-         : <a href="../../sims/dynamics/Circle.html" target="_self">Circle</a>
-        
-        <div>Second colliding shape (incident shape).</div>
-      </td>
-    </tr>
-      </table>
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCircleCollision.html#equals%28Any%29" target="_self">equals</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCircleCollision.html#hashCode%28%29" target="_self">hashCode</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        <div>Returns a hash code value for the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCircleCollision.html#productArity" target="_self">productArity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCircleCollision.html#productElement%28Int%29" target="_self">productElement</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCircleCollision.html#productPrefix" target="_self">productPrefix</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCircleCollision.html#toString%28%29" target="_self">toString</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        <div>Returns a string representation of the object.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="../../sims/collision/Collision.html" target="_self">Collision</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="../../sims/collision/Collision.html#correctVelocity%28Double%29" target="_self">correctVelocity</a>, <a href="../../sims/collision/Collision.html#correctFriction%28sims.geometry.Vector2D%2CDouble%2CDouble%29" target="_self">correctFriction</a>, <a href="../../sims/collision/Collision.html#correctPosition%28Double%29" target="_self">correctPosition</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
+      <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>
       
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="shape1"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>shape1</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>First colliding shape (reference shape).</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/collision/Collision.html" target="_self">Collision</a>.<a href="../../sims/collision/Collision.html#shape1" target="_self">shape1</a>
-        </dd>
-      </dl><hr></hr>
-<a name="shape2"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>shape2</em> : <a href="../../sims/dynamics/Circle.html" target="_self">Circle</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Second colliding shape (incident shape).</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/collision/Collision.html" target="_self">Collision</a>.<a href="../../sims/collision/Collision.html#shape2" target="_self">shape2</a>
-        </dd>
-      </dl><hr></hr>
-<a name="normal"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>normal</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Normal vector to the collision face.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/collision/Collision.html" target="_self">Collision</a>.<a href="../../sims/collision/Collision.html#normal" target="_self">normal</a>
-        </dd>
-      </dl><hr></hr>
-<a name="points"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>points</em> : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Collision points.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/collision/Collision.html" target="_self">Collision</a>.<a href="../../sims/collision/Collision.html#points" target="_self">points</a>
-        </dd>
-      </dl><hr></hr></div>
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="hashCode%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>hashCode</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a hash code value for the object.  
-    <p>
-    The default hashing algorithm is platform dependent.  
-    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></dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>the hash code value for the object.      </p></dd></dl>
-    <hr></hr>
-<a name="toString%28%29"></a><dl>
-      <dt>
+      
+      
+      
+    </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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>toString</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a string representation of the object.  
-    <p>
-    The default representation is platform dependent.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>a string representation of the object.     </p></dd></dl>
-    <hr></hr>
-<a name="equals%28Any%29"></a><dl>
-      <dt>
         
-        <code>override</code>
-        <code>def</code>
-        <em>equals</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.  
-    
-    <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>
-    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>).</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>arg0 - </code>the object to compare against this object for equality.</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.    </p></dd></dl>
-    <hr></hr>
-<a name="productPrefix"></a><dl>
-      <dt>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productPrefix</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productPrefix" target="contentFrame" class="scala/Product">scala.Product.productPrefix</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productArity"></a><dl>
-      <dt>
+        <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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productArity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productArity" target="contentFrame" class="scala/Product">scala.Product.productArity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productElement%28Int%29"></a><dl>
-      <dt>
+        <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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productElement</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productElement" target="contentFrame" class="scala/Product">scala.Product.productElement</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/collision/PolyCollision$object.html b/doc/sims/collision/PolyCollision$object.html
deleted file mode 100644
index a9642ae..0000000
--- a/doc/sims/collision/PolyCollision$object.html
+++ /dev/null
@@ -1,82 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object PolyCollision in sims.collision</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/collision$package.html" target="_self">sims.collision</a>
-        <br></br>
-        <span class="entity">object  PolyCollision</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/collision/PolyCollision"><code>sims/collision/PolyCollision.scala</code></a>]
-      </div><hr></hr>
-      <a name="PolyCollision"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>PolyCollision</em>
-      </dt>
-      <dd><code> extends </code>(<a href="../../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a>, <a href="../../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a>) =&gt; <a href="../../sims/collision/PolyCollision.html" target="_self">PolyCollision</a></dd>
-    </dl>
-      
-
-
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="" target="contentFrame" class="scala/Function2">scala.Function2</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="#toString" target="contentFrame" class="scala/Function2">scala.Function2.toString</a>, <a href="#curry" target="contentFrame" class="scala/Function2">scala.Function2.curry</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      
-
-
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/collision/PolyCollision.html b/doc/sims/collision/PolyCollision.html
index 9009f39..8a9cc89 100644
--- a/doc/sims/collision/PolyCollision.html
+++ b/doc/sims/collision/PolyCollision.html
@@ -1,469 +1,345 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class PolyCollision in sims.collision</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/collision$package.html" target="_self">sims.collision</a>
-        <br></br>
-        <span class="entity">class  PolyCollision</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/collision/PolyCollision"><code>sims/collision/PolyCollision.scala</code></a>]
-      </div><hr></hr>
-      <a name="PolyCollision"></a><dl>
-      <dt>
-        
-        <code>case</code>
-        <code>class</code>
-        <em>PolyCollision</em>(<code>val </code><em>p1</em> : <a href="../../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a>, <code>val </code><em>p2</em> : <a href="../../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a>)
-      </dt>
-      <dd><code> extends </code><a href="../../sims/collision/Collision.html" target="_self">Collision</a><code> with </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a></dd>
-    </dl>
-      <dl><dd>Collision between two convex polygons.</dd></dl>
-      <dl></dl>
+        <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>
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+        </head>
+        <body class="type">
       
+      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">collision</a></p>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCollision.html#minOverlap" target="_self">minOverlap</a></em>
-         : <a href="../../sims/collision/Overlap.html" target="_self">Overlap</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> lazy val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCollision.html#normal" target="_self">normal</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Normal vector to the collision face.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> lazy val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCollision.html#overlaps" target="_self">overlaps</a></em>
-         : <a href="" target="contentFrame" class="scala/RandomAccessSeq">scala.RandomAccessSeq</a>[<a href="../../sims/collision/Overlap.html" target="_self">Overlap</a>]
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> lazy val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCollision.html#points" target="_self">points</a></em>
-         : <a href="" target="contentFrame" class="scala/Seq">scala.Seq</a>[<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>]
-        
-        <div>Collision points.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> lazy val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCollision.html#shape1" target="_self">shape1</a></em>
-         : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>
-        
-        <div>First colliding shape (reference shape).</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> lazy val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCollision.html#shape2" target="_self">shape2</a></em>
-         : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>
-        
-        <div>Second colliding shape (incident shape).</div>
-      </td>
-    </tr>
-      </table>
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCollision.html#equals%28Any%29" target="_self">equals</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCollision.html#hashCode%28%29" target="_self">hashCode</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        <div>Returns a hash code value for the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCollision.html#overlap%28sims.geometry.Vector2D%29" target="_self">overlap</a></em>
-        (<em>axis</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCollision.html#productArity" target="_self">productArity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCollision.html#productElement%28Int%29" target="_self">productElement</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCollision.html#productPrefix" target="_self">productPrefix</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/collision/PolyCollision.html#toString%28%29" target="_self">toString</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        <div>Returns a string representation of the object.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="../../sims/collision/Collision.html" target="_self">Collision</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="../../sims/collision/Collision.html#correctVelocity%28Double%29" target="_self">correctVelocity</a>, <a href="../../sims/collision/Collision.html#correctFriction%28sims.geometry.Vector2D%2CDouble%2CDouble%29" target="_self">correctFriction</a>, <a href="../../sims/collision/Collision.html#correctPosition%28Double%29" target="_self">correctPosition</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
+      <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>
       
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="overlaps"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>lazy val</code>
-        <em>overlaps</em> : <a href="" target="contentFrame" class="scala/RandomAccessSeq">scala.RandomAccessSeq</a>[<a href="../../sims/collision/Overlap.html" target="_self">Overlap</a>]
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="minOverlap"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>minOverlap</em> : <a href="../../sims/collision/Overlap.html" target="_self">Overlap</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="shape1"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>lazy val</code>
-        <em>shape1</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>First colliding shape (reference shape).</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/collision/Collision.html" target="_self">Collision</a>.<a href="../../sims/collision/Collision.html#shape1" target="_self">shape1</a>
-        </dd>
-      </dl><hr></hr>
-<a name="shape2"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>lazy val</code>
-        <em>shape2</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Second colliding shape (incident shape).</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/collision/Collision.html" target="_self">Collision</a>.<a href="../../sims/collision/Collision.html#shape2" target="_self">shape2</a>
-        </dd>
-      </dl><hr></hr>
-<a name="normal"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>lazy val</code>
-        <em>normal</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Normal vector to the collision face.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/collision/Collision.html" target="_self">Collision</a>.<a href="../../sims/collision/Collision.html#normal" target="_self">normal</a>
-        </dd>
-      </dl><hr></hr>
-<a name="points"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>lazy val</code>
-        <em>points</em> : <a href="" target="contentFrame" class="scala/Seq">scala.Seq</a>[<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Collision points.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/collision/Collision.html" target="_self">Collision</a>.<a href="../../sims/collision/Collision.html#points" target="_self">points</a>
-        </dd>
-      </dl><hr></hr></div>
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="overlap%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>overlap</em>(<em>axis</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="hashCode%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>hashCode</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a hash code value for the object.  
-    <p>
-    The default hashing algorithm is platform dependent.  
-    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></dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>the hash code value for the object.      </p></dd></dl>
-    <hr></hr>
-<a name="toString%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>toString</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a string representation of the object.  
-    <p>
-    The default representation is platform dependent.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>a string representation of the object.     </p></dd></dl>
-    <hr></hr>
-<a name="equals%28Any%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>equals</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.  
-    
-    <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>
-    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>).</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>arg0 - </code>the object to compare against this object for equality.</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.    </p></dd></dl>
-    <hr></hr>
-<a name="productPrefix"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productPrefix</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productPrefix" target="contentFrame" class="scala/Product">scala.Product.productPrefix</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productArity"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productArity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productArity" target="contentFrame" class="scala/Product">scala.Product.productArity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productElement%28Int%29"></a><dl>
-      <dt>
+      
+      
+      
+    </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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productElement</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productElement" target="contentFrame" class="scala/Product">scala.Product.productElement</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/collision/package.html b/doc/sims/collision/package.html
new file mode 100644
index 0000000..a1e571e
--- /dev/null
+++ b/doc/sims/collision/package.html
@@ -0,0 +1,137 @@
+<?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$.html">
+      <span class="kind">object</span>
+      <span class="symbol">
+        <span class="name">Collision</span><span class="result"> extends AnyRef</span>
+      </span>
+      </a></h4>
+      
+    </li></ol>
+            </div>
+        
+        
+        
+      </div>
+      
+    </body>
+      </html>
+\ No newline at end of file
diff --git a/doc/sims/dynamics$content.html b/doc/sims/dynamics$content.html
deleted file mode 100644
index 8cbd40c..0000000
--- a/doc/sims/dynamics$content.html
+++ /dev/null
@@ -1,146 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>All classes and objects in sims.dynamics</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../script.js"></script>
-        </head>
-        <body onload="init()"><div class="page-title"><div>Simple Mechanics Simulator (SiMS) API</div></div><p><div>This document is the API specification for SiMS</div></p><table summary="" cellpadding="3" class="member">
-        <tr><td class="title" colspan="2">Class Summary</td></tr>
-        <tr>
-      <td class="modifiers" valign="top"> 
-        <code> class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/dynamics/Body.html" target="_self">Body</a></em>
-        (<em>shps</em> : <a href="../sims/dynamics/Shape.html" target="_self">Shape</a>*)<code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        
-        <div>A two dimensional rigid body is made out of shapes.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>case class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/dynamics/Circle.html" target="_self">Circle</a></em>
-        (<code>val </code><em>radius</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>density</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>)<code> extends </code><a href="../sims/dynamics/Shape.html" target="_self">Shape</a><code> with </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a>
-        
-        <div>A circle.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> trait</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/dynamics/Constraint.html" target="_self">Constraint</a></em>
-        <code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        
-        <div>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.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>case class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/dynamics/Rectangle.html" target="_self">Rectangle</a></em>
-        (<code>val </code><em>halfWidth</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>halfHeight</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>density</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>)<code> extends </code><a href="../sims/dynamics/Shape.html" target="_self">Shape</a><code> with </code><a href="../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a><code> with </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a>
-        
-        <div>A rectangle is a polygon.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>case class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/dynamics/RegularPolygon.html" target="_self">RegularPolygon</a></em>
-        (<code>val </code><em>n</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>, <code>val </code><em>radius</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>density</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>)<code> extends </code><a href="../sims/dynamics/Shape.html" target="_self">Shape</a><code> with </code><a href="../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a><code> with </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a>
-        
-        <div>A regular polygon with <code>n</code> sides whose excircle has a radius <code>radius</code>.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/dynamics/Shape.html" target="_self">Shape</a></em>
-        <code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        
-        <div>An abstract shape.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/dynamics/World.html" target="_self">World</a></em>
-        <code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        
-        <div>A world contains and simulates a system of rigid bodies and joints.</div>
-      </td>
-    </tr>        
-        </table>
-<table summary="" cellpadding="3" class="member">
-        <tr><td class="title" colspan="2">Object Summary</td></tr>
-        <tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/dynamics/Body$object.html" target="_self">Body</a></em>
-        <code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/dynamics/Circle$object.html" target="_self">Circle</a></em>
-        <code> extends </code>(<a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) =&gt; <a href="../sims/dynamics/Circle.html" target="_self">Circle</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/dynamics/Rectangle$object.html" target="_self">Rectangle</a></em>
-        <code> extends </code>(<a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) =&gt; <a href="../sims/dynamics/Rectangle.html" target="_self">Rectangle</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/dynamics/RegularPolygon$object.html" target="_self">RegularPolygon</a></em>
-        <code> extends </code>(<a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) =&gt; <a href="../sims/dynamics/RegularPolygon.html" target="_self">RegularPolygon</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/dynamics/Shape$object.html" target="_self">Shape</a></em>
-        <code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        
-        
-      </td>
-    </tr>        
-        </table></body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics$package.html b/doc/sims/dynamics$package.html
deleted file mode 100644
index b2430c2..0000000
--- a/doc/sims/dynamics$package.html
+++ /dev/null
@@ -1,26 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>List of classes and objects in package sims.dynamics</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../script.js"></script>
-        </head>
-        <body onload="init()"><table summary="" class="navigation">
-          <tr><td class="navigation-links" valign="top">
-            <a href="../sims/dynamics$content.html" target="contentFrame">sims.dynamics</a>
-          </td></tr>
-        </table><div><div class="kinds" id="Classes">Classes</div><ul class="list">
-        <li id="Classes_B"><a href="../sims/dynamics/Body.html" target="contentFrame">Body</a></li>
-<li id="Classes_C"><a href="../sims/dynamics/Circle.html" target="contentFrame">Circle</a></li>
-<li><a href="../sims/dynamics/Constraint.html" target="contentFrame">Constraint</a></li>
-<li id="Classes_R"><a href="../sims/dynamics/Rectangle.html" target="contentFrame">Rectangle</a></li>
-<li><a href="../sims/dynamics/RegularPolygon.html" target="contentFrame">RegularPolygon</a></li>
-<li id="Classes_S"><a href="../sims/dynamics/Shape.html" target="contentFrame">Shape</a></li>
-<li id="Classes_W"><a href="../sims/dynamics/World.html" target="contentFrame">World</a></li>
-        </ul>
-<div class="kinds" id="Objects">Objects</div><ul class="list">
-        <li id="Objects_B"><a href="../sims/dynamics/Body$object.html" target="contentFrame">Body</a></li>
-<li id="Objects_C"><a href="../sims/dynamics/Circle$object.html" target="contentFrame">Circle</a></li>
-<li id="Objects_R"><a href="../sims/dynamics/Rectangle$object.html" target="contentFrame">Rectangle</a></li>
-<li><a href="../sims/dynamics/RegularPolygon$object.html" target="contentFrame">RegularPolygon</a></li>
-<li id="Objects_S"><a href="../sims/dynamics/Shape$object.html" target="contentFrame">Shape</a></li>
-        </ul></div></body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/Body$.html b/doc/sims/dynamics/Body$.html
new file mode 100644
index 0000000..c9c6b49
--- /dev/null
+++ b/doc/sims/dynamics/Body$.html
@@ -0,0 +1,148 @@
+<?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$object.html b/doc/sims/dynamics/Body$object.html
deleted file mode 100644
index fe5fec2..0000000
--- a/doc/sims/dynamics/Body$object.html
+++ /dev/null
@@ -1,75 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object Body in sims.dynamics</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/dynamics$package.html" target="_self">sims.dynamics</a>
-        <br></br>
-        <span class="entity">object  Body</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/Body"><code>sims/dynamics/Body.scala</code></a>]
-      </div><hr></hr>
-      <a name="Body"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>Body</em>
-      </dt>
-      <dd><code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a></dd>
-    </dl>
-      
-
-
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#toString%28%29" target="_self">toString</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      
-
-
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/Body.html b/doc/sims/dynamics/Body.html
index 4bacab2..858116a 100644
--- a/doc/sims/dynamics/Body.html
+++ b/doc/sims/dynamics/Body.html
@@ -1,660 +1,490 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class Body in sims.dynamics</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/dynamics$package.html" target="_self">sims.dynamics</a>
-        <br></br>
-        <span class="entity">class  Body</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/Body"><code>sims/dynamics/Body.scala</code></a>]
-      </div><hr></hr>
-      <a name="Body"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>class</code>
-        <em>Body</em>(<em>shps</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>*)
-      </dt>
-      <dd><code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a></dd>
-    </dl>
-      <dl><dd>A two dimensional rigid body is made out of shapes.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>shps - </code>shapes that belong to this body.</dd></dl>
+        <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>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#angularVelocity" target="_self">angularVelocity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Angular velocity of this body.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#force" target="_self">force</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Resulting force on the COM of this body.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#linearVelocity" target="_self">linearVelocity</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Linear velocity of this body.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#monitor" target="_self">monitor</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>Flag for a world to monitor the properties of this body.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#shapes" target="_self">shapes</a></em>
-         : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>]
-        
-        <div>Shapes that belong to this body.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#torque" target="_self">torque</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Resulting torque on this body.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#uid" target="_self">uid</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        <div>Unique identification number.</div>
-      </td>
-    </tr>
-      </table>
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#I" target="_self">I</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>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>).</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#applyForce%28sims.geometry.Vector2D%2Csims.geometry.Vector2D%29" target="_self">applyForce</a></em>
-        (<em>force</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Applies a force to a point on this body. Warning: the point is considered to be contained within this body.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#applyForce%28sims.geometry.Vector2D%29" target="_self">applyForce</a></em>
-        (<em>force</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Applies a force to the COM of this body.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#applyImpulse%28sims.geometry.Vector2D%29" target="_self">applyImpulse</a></em>
-        (<em>impulse</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Applies an impulse to the COM of this body.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#applyImpulse%28sims.geometry.Vector2D%2Csims.geometry.Vector2D%29" target="_self">applyImpulse</a></em>
-        (<em>impulse</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Applies an impulse to a point on this body. Warning: the point is considered to be contained within this body.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#contains%28sims.geometry.Vector2D%29" target="_self">contains</a></em>
-        (<em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>Checks if the point <code>point</code> is contained in this body.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#fixed" target="_self">fixed</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>Returns whether this body is fixed or not.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#fixed_%3D%28Boolean%29" target="_self">fixed_=</a></em>
-        (<em>value</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Fixes or frees this body. By fixing, linear and angular velocities are set to zero.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#mass" target="_self">mass</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>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>).</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#pos" target="_self">pos</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Returns the position of this body. The position is equivalent to the center of mass.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#pos_%3D%28sims.geometry.Vector2D%29" target="_self">pos_=</a></em>
-        (<em>newPos</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Sets the position of this body. By doing so all its shapes are translated.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#rotation" target="_self">rotation</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Returns the current rotation of this body.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#rotation_%3D%28Double%29" target="_self">rotation_=</a></em>
-        (<em>newRotation</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Sets the rotation of this body. Position and rotation of shapes are modified accordingly.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#toString%28%29" target="_self">toString</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        <div>Returns a string representation of the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#velocityOfPoint%28sims.geometry.Vector2D%29" target="_self">velocityOfPoint</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>
-        
-        <div>Linear velocity of the given point on this body (in world coordinates).</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#%7E%28sims.dynamics.Body%29" target="_self">~</a></em>
-        (<em>b</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>) : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        <div>Creates a new body containing this body's shapes and the shapes of another body <code>b</code>.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Body.html#%7E%28sims.dynamics.Shape%29" target="_self">~</a></em>
-        (<em>s</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>) : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        <div>Creates a new body containing this body's shapes and the shape <code>s</code>.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
+      <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>
       
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="uid"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>uid</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Unique identification number.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="shapes"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>shapes</em> : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Shapes that belong to this body.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="monitor"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>monitor</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Flag for a world to monitor the properties of this body.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>See Also</b></dt><dd><a href="../../sims/dynamics/World.html#monitors" target="_self">World#monitors</a></dd></dl>
-    <hr></hr>
-<a name="linearVelocity"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>linearVelocity</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Linear velocity of this body.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="angularVelocity"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>angularVelocity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Angular velocity of this body.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="force"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>force</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Resulting force on the COM of this body.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="torque"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>torque</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Resulting torque on this body.</dd></dl>
-      <dl></dl>
-    <hr></hr></div>
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="fixed"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>fixed</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns whether this body is fixed or not.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="fixed_%3D%28Boolean%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>fixed_=</em>(<em>value</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Fixes or frees this body. By fixing, linear and angular velocities are set to zero.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="pos"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>pos</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns the position of this body. The position is equivalent to the center of mass.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>position of this body</dd></dl>
-    <hr></hr>
-<a name="pos_%3D%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>pos_=</em>(<em>newPos</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Sets the position of this body. By doing so all its shapes are translated.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>newPos - </code>new position</dd></dl>
-    <hr></hr>
-<a name="rotation"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>rotation</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns the current rotation of this body.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="rotation_%3D%28Double%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>rotation_=</em>(<em>newRotation</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Sets the rotation of this body. Position and rotation of shapes are modified accordingly.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>r - </code>new rotation</dd></dl>
-    <hr></hr>
-<a name="velocityOfPoint%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>velocityOfPoint</em>(<em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Linear velocity of the given point on this body (in world coordinates).</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="mass"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>mass</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>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>).</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>this body's mass</dd></dl>
-    <hr></hr>
-<a name="I"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>I</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>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>).</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>moment of inertia for rotations about the COM of this body</dd></dl>
-    <hr></hr>
-<a name="applyForce%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>applyForce</em>(<em>force</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Applies a force to the COM of this body.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>force - </code>applied force</dd></dl>
-    <hr></hr>
-<a name="applyForce%28sims.geometry.Vector2D%2Csims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>applyForce</em>(<em>force</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Applies a force to a point on this body. Warning: the point is considered to be contained within this body.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>force - </code>applied force</dd><dd><code>point - </code>position vector of the point (in world coordinates)</dd></dl>
-    <hr></hr>
-<a name="applyImpulse%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>applyImpulse</em>(<em>impulse</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Applies an impulse to the COM of this body.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>impulse - </code>applied impulse</dd></dl>
-    <hr></hr>
-<a name="applyImpulse%28sims.geometry.Vector2D%2Csims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>applyImpulse</em>(<em>impulse</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Applies an impulse to a point on this body. Warning: the point is considered to be contained within this body.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>impulse - </code>applied impulse</dd><dd><code>point - </code>position vector of the point (in world coordinates)</dd></dl>
-    <hr></hr>
-<a name="contains%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>contains</em>(<em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Checks if the point <code>point</code> is contained in this body.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="toString%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>toString</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a string representation of the object.  
-    <p>
-    The default representation is platform dependent.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>a string representation of the object.     </p></dd></dl>
-    <hr></hr>
-<a name="%7E%28sims.dynamics.Shape%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>~</em>(<em>s</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>) : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Creates a new body containing this body's shapes and the shape <code>s</code>.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>s - </code>new shape</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>new body</dd></dl>
-    <hr></hr>
-<a name="%7E%28sims.dynamics.Body%29"></a><dl>
-      <dt>
+      
+      
+      
+    </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>
         
-        <code></code>
-        <code>def</code>
-        <em>~</em>(<em>b</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>) : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Creates a new body containing this body's shapes and the shapes of another body <code>b</code>.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>b - </code>body with extra shapes</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>new body</dd></dl>
-    <hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/dynamics/Circle$object.html b/doc/sims/dynamics/Circle$object.html
deleted file mode 100644
index 086b684..0000000
--- a/doc/sims/dynamics/Circle$object.html
+++ /dev/null
@@ -1,82 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object Circle in sims.dynamics</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/dynamics$package.html" target="_self">sims.dynamics</a>
-        <br></br>
-        <span class="entity">object  Circle</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/Circle"><code>sims/dynamics/Circle.scala</code></a>]
-      </div><hr></hr>
-      <a name="Circle"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>Circle</em>
-      </dt>
-      <dd><code> extends </code>(<a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) =&gt; <a href="../../sims/dynamics/Circle.html" target="_self">Circle</a></dd>
-    </dl>
-      
-
-
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="" target="contentFrame" class="scala/Function2">scala.Function2</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="#toString" target="contentFrame" class="scala/Function2">scala.Function2.toString</a>, <a href="#curry" target="contentFrame" class="scala/Function2">scala.Function2.curry</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      
-
-
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/Circle.html b/doc/sims/dynamics/Circle.html
index f5a1655..47526f7 100644
--- a/doc/sims/dynamics/Circle.html
+++ b/doc/sims/dynamics/Circle.html
@@ -1,454 +1,530 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class Circle in sims.dynamics</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
+        <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 onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/dynamics$package.html" target="_self">sims.dynamics</a>
-        <br></br>
-        <span class="entity">class  Circle</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/Circle"><code>sims/dynamics/Circle.scala</code></a>]
-      </div><hr></hr>
-      <a name="Circle"></a><dl>
-      <dt>
-        
-        <code>case</code>
-        <code>class</code>
-        <em>Circle</em>(<code>val </code><em>radius</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>density</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>)
-      </dt>
-      <dd><code> extends </code><a href="../../sims/dynamics/Shape.html" target="_self">Shape</a><code> with </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a></dd>
-    </dl>
-      <dl><dd>A circle.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>radius - </code>radius of this circle</dd><dd><code>density - </code>density of this circle</dd></dl>
-    <dl>
-      <dt style="margin:10px 0 0 20px;"><b>Direct Known Subclasses:</b></dt>
-      <dd><a href="../../graphyx/graphics/GraphicalCircle.html" target="_self">GraphicalCircle</a></dd>
-      </dl><hr></hr>
+        <body class="type">
       
+      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">dynamics</a></p>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Circle.html#I" target="_self">I</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Moment of inertia for a rotation about this shape's COM.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Circle.html#volume" target="_self">volume</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>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.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Values and Variables inherited from <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="../../sims/dynamics/Shape.html#uid" target="_self">uid</a>, <a href="../../sims/dynamics/Shape.html#collidable" target="_self">collidable</a>, <a href="../../sims/dynamics/Shape.html#restitution" target="_self">restitution</a>, <a href="../../sims/dynamics/Shape.html#friction" target="_self">friction</a>, <a href="../../sims/dynamics/Shape.html#pos" target="_self">pos</a>, <a href="../../sims/dynamics/Shape.html#rotation" target="_self">rotation</a>, <a href="../../sims/dynamics/Shape.html#rotation0" target="_self">rotation0</a>, <a href="../../sims/dynamics/Shape.html#refLocalPos" target="_self">refLocalPos</a>, <a href="../../sims/dynamics/Shape.html#transientShapes" target="_self">transientShapes</a>
-        </td></tr>
-      </table>
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Circle.html#AABB" target="_self">AABB</a></em>
-         : <a href="../../sims/collision/AABB.html" target="_self">AABB</a>
-        
-        <div>Returns this shape's axis aligned bounding box.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Circle.html#contains%28sims.geometry.Vector2D%29" target="_self">contains</a></em>
-        (<em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>Checks if the point <code>point</code> is contained in this shape.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Circle.html#equals%28Any%29" target="_self">equals</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Circle.html#hashCode%28%29" target="_self">hashCode</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        <div>Returns a hash code value for the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Circle.html#productArity" target="_self">productArity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Circle.html#productElement%28Int%29" target="_self">productElement</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Circle.html#productPrefix" target="_self">productPrefix</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Circle.html#project%28sims.geometry.Vector2D%29" target="_self">project</a></em>
-        (<em>axis</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/geometry/Projection.html" target="_self">Projection</a>
-        
-        <div>Returns the projection of this shape onto the line given by the directional vector <code>axis</code>.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Circle.html#toString%28%29" target="_self">toString</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        <div>Returns a string representation of the object.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="../../sims/dynamics/Shape.html#mass" target="_self">mass</a>, <a href="../../sims/dynamics/Shape.html#body" target="_self">body</a>, <a href="../../sims/dynamics/Shape.html#asBody" target="_self">asBody</a>, <a href="../../sims/dynamics/Shape.html#%7E%28sims.dynamics.Shape%29" target="_self">~</a>, <a href="../../sims/dynamics/Shape.html#%7E%28sims.dynamics.Body%29" target="_self">~</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
+      <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>
       
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="volume"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>volume</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>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.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>.<a href="../../sims/dynamics/Shape.html#volume" target="_self">volume</a>
-        </dd>
-      </dl><hr></hr>
-<a name="I"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>I</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Moment of inertia for a rotation about this shape's COM.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>.<a href="../../sims/dynamics/Shape.html#I" target="_self">I</a>
-        </dd>
-      </dl><hr></hr></div>
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="AABB"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>AABB</em> : <a href="../../sims/collision/AABB.html" target="_self">AABB</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns this shape's axis aligned bounding box.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>.<a href="../../sims/dynamics/Shape.html#AABB" target="_self">AABB</a>
-        </dd>
-      </dl><hr></hr>
-<a name="project%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>project</em>(<em>axis</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/geometry/Projection.html" target="_self">Projection</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns the projection of this shape onto the line given by the directional vector <code>axis</code>.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>axis - </code>directional vector of the line</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>projection of this shape</dd></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>.<a href="../../sims/dynamics/Shape.html#project%28sims.geometry.Vector2D%29" target="_self">project</a>
-        </dd>
-      </dl><hr></hr>
-<a name="contains%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>contains</em>(<em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Checks if the point <code>point</code> is contained in this shape.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>.<a href="../../sims/dynamics/Shape.html#contains%28sims.geometry.Vector2D%29" target="_self">contains</a>
-        </dd>
-      </dl><hr></hr>
-<a name="hashCode%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>hashCode</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a hash code value for the object.  
-    <p>
-    The default hashing algorithm is platform dependent.  
-    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></dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>the hash code value for the object.      </p></dd></dl>
-    <hr></hr>
-<a name="toString%28%29"></a><dl>
-      <dt>
+      
+      <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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>toString</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a string representation of the object.  
-    <p>
-    The default representation is platform dependent.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>a string representation of the object.     </p></dd></dl>
-    <hr></hr>
-<a name="equals%28Any%29"></a><dl>
-      <dt>
         
-        <code>override</code>
-        <code>def</code>
-        <em>equals</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.  
-    
-    <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>
-    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>).</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>arg0 - </code>the object to compare against this object for equality.</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.    </p></dd></dl>
-    <hr></hr>
-<a name="productPrefix"></a><dl>
-      <dt>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productPrefix</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productPrefix" target="contentFrame" class="scala/Product">scala.Product.productPrefix</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productArity"></a><dl>
-      <dt>
+        <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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productArity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productArity" target="contentFrame" class="scala/Product">scala.Product.productArity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productElement%28Int%29"></a><dl>
-      <dt>
+        <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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productElement</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productElement" target="contentFrame" class="scala/Product">scala.Product.productElement</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/dynamics/Constraint.html b/doc/sims/dynamics/Constraint.html
index 570f522..23264ed 100644
--- a/doc/sims/dynamics/Constraint.html
+++ b/doc/sims/dynamics/Constraint.html
@@ -1,134 +1,184 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>trait Constraint in sims.dynamics</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
+        <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 onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/dynamics$package.html" target="_self">sims.dynamics</a>
-        <br></br>
-        <span class="entity">trait  Constraint</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/Constraint"><code>sims/dynamics/Constraint.scala</code></a>]
-      </div><hr></hr>
-      <a name="Constraint"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>trait</code>
-        <em>Constraint</em>
-      </dt>
-      <dd><code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a></dd>
-    </dl>
-      <dl><dd>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.</dd></dl>
-      <dl></dl>
-    <dl>
-      <dt style="margin:10px 0 0 20px;"><b>Direct Known Subclasses:</b></dt>
-      <dd><a href="../../sims/collision/Collision.html" target="_self">Collision</a>, <a href="../../sims/dynamics/joints/Joint.html" target="_self">Joint</a></dd>
-      </dl><hr></hr>
+        <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>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Constraint.html#correctPosition%28Double%29" target="_self">correctPosition</a></em>
-        (<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
+      <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>Corrects the positions of bodies according to this constraint.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Constraint.html#correctVelocity%28Double%29" target="_self">correctVelocity</a></em>
-        (<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
         
-        <div>Corrects the velocities of bodies according to this constraint.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#toString%28%29" target="_self">toString</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
+        
+        <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>
       
-
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="correctVelocity%28Double%29"></a><dl>
-      <dt>
+      
+    </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>
         
-        <code>abstract</code>
-        <code>def</code>
-        <em>correctVelocity</em>(<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Corrects the velocities of bodies according to this constraint.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>h - </code>a time interval, used for converting forces and impulses</dd></dl>
-    <hr></hr>
-<a name="correctPosition%28Double%29"></a><dl>
-      <dt>
         
-        <code>abstract</code>
-        <code>def</code>
-        <em>correctPosition</em>(<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Corrects the positions of bodies according to this constraint.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>h - </code>a time interval, used for converting forces and impulses</dd></dl>
-    <hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+        
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/dynamics/Rectangle$object.html b/doc/sims/dynamics/Rectangle$object.html
deleted file mode 100644
index 7c76345..0000000
--- a/doc/sims/dynamics/Rectangle$object.html
+++ /dev/null
@@ -1,82 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object Rectangle in sims.dynamics</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/dynamics$package.html" target="_self">sims.dynamics</a>
-        <br></br>
-        <span class="entity">object  Rectangle</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/Rectangle"><code>sims/dynamics/Rectangle.scala</code></a>]
-      </div><hr></hr>
-      <a name="Rectangle"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>Rectangle</em>
-      </dt>
-      <dd><code> extends </code>(<a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) =&gt; <a href="../../sims/dynamics/Rectangle.html" target="_self">Rectangle</a></dd>
-    </dl>
-      
-
-
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="" target="contentFrame" class="scala/Function3">scala.Function3</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="#toString" target="contentFrame" class="scala/Function3">scala.Function3.toString</a>, <a href="#curry" target="contentFrame" class="scala/Function3">scala.Function3.curry</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      
-
-
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/Rectangle.html b/doc/sims/dynamics/Rectangle.html
index df238de..63ef89d 100644
--- a/doc/sims/dynamics/Rectangle.html
+++ b/doc/sims/dynamics/Rectangle.html
@@ -1,430 +1,598 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class Rectangle in sims.dynamics</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
+        <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 onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/dynamics$package.html" target="_self">sims.dynamics</a>
-        <br></br>
-        <span class="entity">class  Rectangle</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/Rectangle"><code>sims/dynamics/Rectangle.scala</code></a>]
-      </div><hr></hr>
-      <a name="Rectangle"></a><dl>
-      <dt>
-        
-        <code>case</code>
-        <code>class</code>
-        <em>Rectangle</em>(<code>val </code><em>halfWidth</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>halfHeight</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>density</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>)
-      </dt>
-      <dd><code> extends </code><a href="../../sims/dynamics/Shape.html" target="_self">Shape</a><code> with </code><a href="../../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a><code> with </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a></dd>
-    </dl>
-      <dl><dd>A rectangle is a polygon.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>halfWidth - </code>this rectangle's half width</dd><dd><code>halfHeight - </code>this rectangle's half height</dd><dd><code>density - </code>density of this rectangle</dd></dl>
-    <dl>
-      <dt style="margin:10px 0 0 20px;"><b>Direct Known Subclasses:</b></dt>
-      <dd><a href="../../graphyx/graphics/GraphicalRectangle.html" target="_self">GraphicalRectangle</a></dd>
-      </dl><hr></hr>
+        <body class="type">
       
+      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">dynamics</a></p>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Rectangle.html#I" target="_self">I</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Moment of inertia for a rotation about this shape's COM.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Rectangle.html#volume" target="_self">volume</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>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.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Values and Variables inherited from <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="../../sims/dynamics/Shape.html#uid" target="_self">uid</a>, <a href="../../sims/dynamics/Shape.html#collidable" target="_self">collidable</a>, <a href="../../sims/dynamics/Shape.html#restitution" target="_self">restitution</a>, <a href="../../sims/dynamics/Shape.html#friction" target="_self">friction</a>, <a href="../../sims/dynamics/Shape.html#pos" target="_self">pos</a>, <a href="../../sims/dynamics/Shape.html#rotation" target="_self">rotation</a>, <a href="../../sims/dynamics/Shape.html#rotation0" target="_self">rotation0</a>, <a href="../../sims/dynamics/Shape.html#refLocalPos" target="_self">refLocalPos</a>, <a href="../../sims/dynamics/Shape.html#transientShapes" target="_self">transientShapes</a>
-        </td></tr>
-      </table>
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Rectangle.html#equals%28Any%29" target="_self">equals</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Rectangle.html#halfDiags" target="_self">halfDiags</a></em>
-         : <a href="" target="contentFrame" class="scala/Array">scala.Array</a>[<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>]
-        
-        <div>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.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Rectangle.html#hashCode%28%29" target="_self">hashCode</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        <div>Returns a hash code value for the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Rectangle.html#productArity" target="_self">productArity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Rectangle.html#productElement%28Int%29" target="_self">productElement</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Rectangle.html#productPrefix" target="_self">productPrefix</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Rectangle.html#toString%28%29" target="_self">toString</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        <div>Returns a string representation of the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Rectangle.html#vertices" target="_self">vertices</a></em>
-         : <a href="" target="contentFrame" class="scala/Array">scala.Array</a>[<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>]
-        
-        <div>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.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="../../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="../../sims/geometry/ConvexPolygon.html#sides" target="_self">sides</a>, <a href="../../sims/geometry/ConvexPolygon.html#project%28sims.geometry.Vector2D%29" target="_self">project</a>, <a href="../../sims/geometry/ConvexPolygon.html#AABB" target="_self">AABB</a>, <a href="../../sims/geometry/ConvexPolygon.html#contains%28sims.geometry.Vector2D%29" target="_self">contains</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="../../sims/dynamics/Shape.html#mass" target="_self">mass</a>, <a href="../../sims/dynamics/Shape.html#body" target="_self">body</a>, <a href="../../sims/dynamics/Shape.html#asBody" target="_self">asBody</a>, <a href="../../sims/dynamics/Shape.html#%7E%28sims.dynamics.Shape%29" target="_self">~</a>, <a href="../../sims/dynamics/Shape.html#%7E%28sims.dynamics.Body%29" target="_self">~</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
+      <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>
       
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="volume"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>volume</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>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.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>.<a href="../../sims/dynamics/Shape.html#volume" target="_self">volume</a>
-        </dd>
-      </dl><hr></hr>
-<a name="I"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>I</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Moment of inertia for a rotation about this shape's COM.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>.<a href="../../sims/dynamics/Shape.html#I" target="_self">I</a>
-        </dd>
-      </dl><hr></hr></div>
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="halfDiags"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>halfDiags</em> : <a href="" target="contentFrame" class="scala/Array">scala.Array</a>[<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>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.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="vertices"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>vertices</em> : <a href="" target="contentFrame" class="scala/Array">scala.Array</a>[<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>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.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a>.<a href="../../sims/geometry/ConvexPolygon.html#vertices" target="_self">vertices</a>
-        </dd>
-      </dl><hr></hr>
-<a name="hashCode%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>hashCode</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a hash code value for the object.  
-    <p>
-    The default hashing algorithm is platform dependent.  
-    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></dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>the hash code value for the object.      </p></dd></dl>
-    <hr></hr>
-<a name="toString%28%29"></a><dl>
-      <dt>
+      
+      <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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>toString</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a string representation of the object.  
-    <p>
-    The default representation is platform dependent.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>a string representation of the object.     </p></dd></dl>
-    <hr></hr>
-<a name="equals%28Any%29"></a><dl>
-      <dt>
         
-        <code>override</code>
-        <code>def</code>
-        <em>equals</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.  
-    
-    <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>
-    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>).</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>arg0 - </code>the object to compare against this object for equality.</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.    </p></dd></dl>
-    <hr></hr>
-<a name="productPrefix"></a><dl>
-      <dt>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productPrefix</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productPrefix" target="contentFrame" class="scala/Product">scala.Product.productPrefix</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productArity"></a><dl>
-      <dt>
+        <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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productArity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productArity" target="contentFrame" class="scala/Product">scala.Product.productArity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productElement%28Int%29"></a><dl>
-      <dt>
+        <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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productElement</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productElement" target="contentFrame" class="scala/Product">scala.Product.productElement</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/dynamics/RegularPolygon$object.html b/doc/sims/dynamics/RegularPolygon$object.html
deleted file mode 100644
index b2d8a0e..0000000
--- a/doc/sims/dynamics/RegularPolygon$object.html
+++ /dev/null
@@ -1,82 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object RegularPolygon in sims.dynamics</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/dynamics$package.html" target="_self">sims.dynamics</a>
-        <br></br>
-        <span class="entity">object  RegularPolygon</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/RegularPolygon"><code>sims/dynamics/RegularPolygon.scala</code></a>]
-      </div><hr></hr>
-      <a name="RegularPolygon"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>RegularPolygon</em>
-      </dt>
-      <dd><code> extends </code>(<a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) =&gt; <a href="../../sims/dynamics/RegularPolygon.html" target="_self">RegularPolygon</a></dd>
-    </dl>
-      
-
-
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="" target="contentFrame" class="scala/Function3">scala.Function3</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="#toString" target="contentFrame" class="scala/Function3">scala.Function3.toString</a>, <a href="#curry" target="contentFrame" class="scala/Function3">scala.Function3.curry</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      
-
-
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/RegularPolygon.html b/doc/sims/dynamics/RegularPolygon.html
index e691f51..b0e8cc9 100644
--- a/doc/sims/dynamics/RegularPolygon.html
+++ b/doc/sims/dynamics/RegularPolygon.html
@@ -1,421 +1,588 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class RegularPolygon in sims.dynamics</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
+        <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 onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/dynamics$package.html" target="_self">sims.dynamics</a>
-        <br></br>
-        <span class="entity">class  RegularPolygon</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/RegularPolygon"><code>sims/dynamics/RegularPolygon.scala</code></a>]
-      </div><hr></hr>
-      <a name="RegularPolygon"></a><dl>
-      <dt>
-        
-        <code>case</code>
-        <code>class</code>
-        <em>RegularPolygon</em>(<code>val </code><em>n</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>, <code>val </code><em>radius</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>density</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>)
-      </dt>
-      <dd><code> extends </code><a href="../../sims/dynamics/Shape.html" target="_self">Shape</a><code> with </code><a href="../../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a><code> with </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a></dd>
-    </dl>
-      <dl><dd>A regular polygon with <code>n</code> sides whose excircle has a radius <code>radius</code>.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>n - </code>nmber of sides.</dd><dd><code>radius - </code>radius of the excircle</dd><dd><code>density - </code>density of this regular polygon</dd><dt style="margin:10px 0 0 20px;">
-        <b>Throws</b></dt><dd><code>IllegalArgumentException - </code>if <code>n</code> is smaller than 3</dd></dl>
-    <dl>
-      <dt style="margin:10px 0 0 20px;"><b>Direct Known Subclasses:</b></dt>
-      <dd><a href="../../graphyx/graphics/GraphicalRegularPolygon.html" target="_self">GraphicalRegularPolygon</a></dd>
-      </dl><hr></hr>
+        <body class="type">
       
+      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">dynamics</a></p>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/RegularPolygon.html#I" target="_self">I</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Moment of inertia for a rotation about this shape's COM.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/RegularPolygon.html#volume" target="_self">volume</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>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.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Values and Variables inherited from <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="../../sims/dynamics/Shape.html#uid" target="_self">uid</a>, <a href="../../sims/dynamics/Shape.html#collidable" target="_self">collidable</a>, <a href="../../sims/dynamics/Shape.html#restitution" target="_self">restitution</a>, <a href="../../sims/dynamics/Shape.html#friction" target="_self">friction</a>, <a href="../../sims/dynamics/Shape.html#pos" target="_self">pos</a>, <a href="../../sims/dynamics/Shape.html#rotation" target="_self">rotation</a>, <a href="../../sims/dynamics/Shape.html#rotation0" target="_self">rotation0</a>, <a href="../../sims/dynamics/Shape.html#refLocalPos" target="_self">refLocalPos</a>, <a href="../../sims/dynamics/Shape.html#transientShapes" target="_self">transientShapes</a>
-        </td></tr>
-      </table>
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/RegularPolygon.html#equals%28Any%29" target="_self">equals</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/RegularPolygon.html#halfDiags" target="_self">halfDiags</a></em>
-         : <a href="" target="contentFrame" class="scala/Array">scala.Array</a>[<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>]
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/RegularPolygon.html#hashCode%28%29" target="_self">hashCode</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        <div>Returns a hash code value for the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/RegularPolygon.html#productArity" target="_self">productArity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/RegularPolygon.html#productElement%28Int%29" target="_self">productElement</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/RegularPolygon.html#productPrefix" target="_self">productPrefix</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/RegularPolygon.html#toString%28%29" target="_self">toString</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        <div>Returns a string representation of the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/RegularPolygon.html#vertices" target="_self">vertices</a></em>
-         : <a href="" target="contentFrame" class="scala/Array">scala.Array</a>[<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>]
-        
-        <div>Returns positions of all vertices of this Polygon. Vertices are ordered counter-clockwise.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="../../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="../../sims/geometry/ConvexPolygon.html#sides" target="_self">sides</a>, <a href="../../sims/geometry/ConvexPolygon.html#project%28sims.geometry.Vector2D%29" target="_self">project</a>, <a href="../../sims/geometry/ConvexPolygon.html#AABB" target="_self">AABB</a>, <a href="../../sims/geometry/ConvexPolygon.html#contains%28sims.geometry.Vector2D%29" target="_self">contains</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="../../sims/dynamics/Shape.html#mass" target="_self">mass</a>, <a href="../../sims/dynamics/Shape.html#body" target="_self">body</a>, <a href="../../sims/dynamics/Shape.html#asBody" target="_self">asBody</a>, <a href="../../sims/dynamics/Shape.html#%7E%28sims.dynamics.Shape%29" target="_self">~</a>, <a href="../../sims/dynamics/Shape.html#%7E%28sims.dynamics.Body%29" target="_self">~</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
+      <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>
       
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="volume"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>volume</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>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.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>.<a href="../../sims/dynamics/Shape.html#volume" target="_self">volume</a>
-        </dd>
-      </dl><hr></hr>
-<a name="I"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>I</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Moment of inertia for a rotation about this shape's COM.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>.<a href="../../sims/dynamics/Shape.html#I" target="_self">I</a>
-        </dd>
-      </dl><hr></hr></div>
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="halfDiags"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>halfDiags</em> : <a href="" target="contentFrame" class="scala/Array">scala.Array</a>[<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>]
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="vertices"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>vertices</em> : <a href="" target="contentFrame" class="scala/Array">scala.Array</a>[<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns positions of all vertices of this Polygon. Vertices are ordered counter-clockwise.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>position vectors of the vertices</dd></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a>.<a href="../../sims/geometry/ConvexPolygon.html#vertices" target="_self">vertices</a>
-        </dd>
-      </dl><hr></hr>
-<a name="hashCode%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>hashCode</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a hash code value for the object.  
-    <p>
-    The default hashing algorithm is platform dependent.  
-    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></dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>the hash code value for the object.      </p></dd></dl>
-    <hr></hr>
-<a name="toString%28%29"></a><dl>
-      <dt>
+      
+      <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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>toString</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a string representation of the object.  
-    <p>
-    The default representation is platform dependent.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>a string representation of the object.     </p></dd></dl>
-    <hr></hr>
-<a name="equals%28Any%29"></a><dl>
-      <dt>
         
-        <code>override</code>
-        <code>def</code>
-        <em>equals</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.  
-    
-    <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>
-    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>).</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>arg0 - </code>the object to compare against this object for equality.</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.    </p></dd></dl>
-    <hr></hr>
-<a name="productPrefix"></a><dl>
-      <dt>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productPrefix</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productPrefix" target="contentFrame" class="scala/Product">scala.Product.productPrefix</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productArity"></a><dl>
-      <dt>
+        <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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productArity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productArity" target="contentFrame" class="scala/Product">scala.Product.productArity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productElement%28Int%29"></a><dl>
-      <dt>
+        <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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productElement</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productElement" target="contentFrame" class="scala/Product">scala.Product.productElement</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/dynamics/Shape$.html b/doc/sims/dynamics/Shape$.html
new file mode 100644
index 0000000..6cc92c5
--- /dev/null
+++ b/doc/sims/dynamics/Shape$.html
@@ -0,0 +1,148 @@
+<?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$object.html b/doc/sims/dynamics/Shape$object.html
deleted file mode 100644
index a90e5ee..0000000
--- a/doc/sims/dynamics/Shape$object.html
+++ /dev/null
@@ -1,75 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object Shape in sims.dynamics</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/dynamics$package.html" target="_self">sims.dynamics</a>
-        <br></br>
-        <span class="entity">object  Shape</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/Shape"><code>sims/dynamics/Shape.scala</code></a>]
-      </div><hr></hr>
-      <a name="Shape"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>Shape</em>
-      </dt>
-      <dd><code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a></dd>
-    </dl>
-      
-
-
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#toString%28%29" target="_self">toString</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      
-
-
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/Shape.html b/doc/sims/dynamics/Shape.html
index f769f9b..03db5e1 100644
--- a/doc/sims/dynamics/Shape.html
+++ b/doc/sims/dynamics/Shape.html
@@ -1,557 +1,458 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class Shape in sims.dynamics</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
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-            <div class="doctitle-larger">SiMS</div>
-          </td>
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-        
-      <div class="entity">
-        <a href="../../sims/dynamics$package.html" target="_self">sims.dynamics</a>
-        <br></br>
-        <span class="entity">class  Shape</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/Shape"><code>sims/dynamics/Shape.scala</code></a>]
-      </div><hr></hr>
-      <a name="Shape"></a><dl>
-      <dt>
-        
-        <code>abstract</code>
-        <code>class</code>
-        <em>Shape</em>
-      </dt>
-      <dd><code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a></dd>
-    </dl>
-      <dl><dd>An abstract shape.</dd></dl>
-      <dl></dl>
-    <dl>
-      <dt style="margin:10px 0 0 20px;"><b>Direct Known Subclasses:</b></dt>
-      <dd><a href="../../graphyx/graphics/GraphicalShape.html" target="_self">GraphicalShape</a>, <a href="../../sims/dynamics/Circle.html" target="_self">Circle</a>, <a href="../../sims/dynamics/Rectangle.html" target="_self">Rectangle</a>, <a href="../../sims/dynamics/RegularPolygon.html" target="_self">RegularPolygon</a></dd>
-      </dl><hr></hr>
+        <body class="type">
       
+      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">dynamics</a></p>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Shape.html#I" target="_self">I</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Moment of inertia for a rotation about this shape's COM.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Shape.html#collidable" target="_self">collidable</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>Flag determining this shapes ability to collide with other shapes.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Shape.html#density" target="_self">density</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Density. (Mass per area)</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Shape.html#friction" target="_self">friction</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>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.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Shape.html#pos" target="_self">pos</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Position of this shape's COM (in world coordinates).</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Shape.html#refLocalPos" target="_self">refLocalPos</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Local position of this shape's body COM to its COM at a body rotation of zero.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Shape.html#restitution" target="_self">restitution</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>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.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Shape.html#rotation" target="_self">rotation</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Rotation of this shape about its COM.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Shape.html#rotation0" target="_self">rotation0</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Initial rotation. Rotation of this shape before it was added to a body.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Shape.html#transientShapes" target="_self">transientShapes</a></em>
-         : <a href="" target="contentFrame" class="scala/collection/mutable/Set">scala.collection.mutable.Set</a>[<a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>]
-        
-        <div>Shapes with which this shape cannot collide.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Shape.html#uid" target="_self">uid</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        <div>Unique identification number.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Shape.html#volume" target="_self">volume</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>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.</div>
-      </td>
-    </tr>
-      </table>
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Shape.html#AABB" target="_self">AABB</a></em>
-         : <a href="../../sims/collision/AABB.html" target="_self">AABB</a>
-        
-        <div>Returns this shape's axis aligned bounding box.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Shape.html#asBody" target="_self">asBody</a></em>
-         : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        <div>Creates a new body made out of tis shape.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Shape.html#body" target="_self">body</a></em>
-         : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        <div>Returns this shape's containing body.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Shape.html#contains%28sims.geometry.Vector2D%29" target="_self">contains</a></em>
-        (<em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>Checks if the point <code>point</code> is contained in this shape.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Shape.html#mass" target="_self">mass</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Returns the mass of this shape. The mass is given by volume times density.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Shape.html#project%28sims.geometry.Vector2D%29" target="_self">project</a></em>
-        (<em>axis</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/geometry/Projection.html" target="_self">Projection</a>
-        
-        <div>Returns the projection of this shape onto the line given by the directional vector <code>axis</code>.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Shape.html#%7E%28sims.dynamics.Body%29" target="_self">~</a></em>
-        (<em>b</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>) : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        <div>Creates a new body out of this shape and the shapes of body <code>b</code>.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/Shape.html#%7E%28sims.dynamics.Shape%29" target="_self">~</a></em>
-        (<em>s</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>) : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        <div>Creates a new body out of this shape and the shape <code>s</code>.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#toString%28%29" target="_self">toString</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
+      <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>
       
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="uid"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>uid</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Unique identification number.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="collidable"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>collidable</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Flag determining this shapes ability to collide with other shapes.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="restitution"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>restitution</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>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.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="friction"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>friction</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>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.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="pos"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>pos</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Position of this shape's COM (in world coordinates).</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="rotation"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>rotation</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Rotation of this shape about its COM.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="rotation0"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>rotation0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Initial rotation. Rotation of this shape before it was added to a body.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="refLocalPos"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>refLocalPos</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Local position of this shape's body COM to its COM at a body rotation of zero.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="density"></a><dl>
-      <dt>
-        
-        <code>abstract</code>
-        <code>val</code>
-        <em>density</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Density. (Mass per area)</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="volume"></a><dl>
-      <dt>
-        
-        <code>abstract</code>
-        <code>val</code>
-        <em>volume</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>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.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="I"></a><dl>
-      <dt>
-        
-        <code>abstract</code>
-        <code>val</code>
-        <em>I</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Moment of inertia for a rotation about this shape's COM.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="transientShapes"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>transientShapes</em> : <a href="" target="contentFrame" class="scala/collection/mutable/Set">scala.collection.mutable.Set</a>[<a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Shapes with which this shape cannot collide.</dd></dl>
-      <dl></dl>
-    <hr></hr></div>
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="mass"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>mass</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns the mass of this shape. The mass is given by volume times density.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>mass of this shape</dd></dl>
-    <hr></hr>
-<a name="body"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>body</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns this shape's containing body.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="AABB"></a><dl>
-      <dt>
-        
-        <code>abstract</code>
-        <code>def</code>
-        <em>AABB</em> : <a href="../../sims/collision/AABB.html" target="_self">AABB</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns this shape's axis aligned bounding box.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="project%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code>abstract</code>
-        <code>def</code>
-        <em>project</em>(<em>axis</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/geometry/Projection.html" target="_self">Projection</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns the projection of this shape onto the line given by the directional vector <code>axis</code>.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>axis - </code>directional vector of the line</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>projection of this shape</dd></dl>
-    <hr></hr>
-<a name="contains%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code>abstract</code>
-        <code>def</code>
-        <em>contains</em>(<em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Checks if the point <code>point</code> is contained in this shape.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="asBody"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>asBody</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Creates a new body made out of tis shape.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>a body made out of tis shape</dd></dl>
-    <hr></hr>
-<a name="%7E%28sims.dynamics.Shape%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>~</em>(<em>s</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>) : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Creates a new body out of this shape and the shape <code>s</code>.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="%7E%28sims.dynamics.Body%29"></a><dl>
-      <dt>
+      <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>
         
-        <code></code>
-        <code>def</code>
-        <em>~</em>(<em>b</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>) : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Creates a new body out of this shape and the shapes of body <code>b</code>.</dd></dl>
-      <dl></dl>
-    <hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/dynamics/World.html b/doc/sims/dynamics/World.html
index d089cd9..336852c 100644
--- a/doc/sims/dynamics/World.html
+++ b/doc/sims/dynamics/World.html
@@ -1,699 +1,539 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class World in sims.dynamics</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/dynamics$package.html" target="_self">sims.dynamics</a>
-        <br></br>
-        <span class="entity">class  World</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/World"><code>sims/dynamics/World.scala</code></a>]
-      </div><hr></hr>
-      <a name="World"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>class</code>
-        <em>World</em>
-      </dt>
-      <dd><code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a></dd>
-    </dl>
-      <dl><dd>A world contains and simulates a system of rigid bodies and joints.</dd></dl>
-      <dl></dl>
+        <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>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#bodies" target="_self">bodies</a></em>
-         : <a href="" target="contentFrame" class="scala/collection/mutable/ArrayBuffer">scala.collection.mutable.ArrayBuffer</a>[<a href="../../sims/dynamics/Body.html" target="_self">Body</a>]
-        
-        <div>Bodies contained in this world.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#detector" target="_self">detector</a></em>
-         : <a href="../../sims/collision/Detector.html" target="_self">Detector</a>
-        
-        <div>Collsion detector who manages collision detection in this world.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#enableCollisionDetection" target="_self">enableCollisionDetection</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>Flag to enable collision detection.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#enablePositionCorrection" target="_self">enablePositionCorrection</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>Flag to enable position correction for constraints.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#gravity" target="_self">gravity</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Gravity in this world.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#iterations" target="_self">iterations</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        <div>Number of constraint corrections per time step.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#joints" target="_self">joints</a></em>
-         : <a href="" target="contentFrame" class="scala/collection/mutable/ArrayBuffer">scala.collection.mutable.ArrayBuffer</a>[<a href="../../sims/dynamics/joints/Joint.html" target="_self">Joint</a>]
-        
-        <div>Joints contained in this world.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#minAngularVelocity" target="_self">minAngularVelocity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Minimal, non-zero angular velocity.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#minLinearVelocity" target="_self">minLinearVelocity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Minimal, non-zero linear velocity.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#monitors" target="_self">monitors</a></em>
-         : <a href="" target="contentFrame" class="scala/collection/mutable/ArrayBuffer">scala.collection.mutable.ArrayBuffer</a>[(<a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>, (<a href="../../sims/dynamics/Body.html" target="_self">Body</a>) =&gt; <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>)]
-        
-        <div>Monitoring methods for bodies.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#overCWarning" target="_self">overCWarning</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>Warning if a body's velocity exceeds the speed of light.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#time" target="_self">time</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Current time in this world.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#timeStep" target="_self">timeStep</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Time intervals in which this world simulates.</div>
-      </td>
-    </tr>
-      </table>
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#%2B%2B%3D%28Seq%5Bsims.dynamics.Body%5D%29" target="_self">++=</a></em>
-        (<em>bs</em> : <a href="" target="contentFrame" class="scala/Seq">scala.Seq</a>[<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>Adds the given sequence of bodies to this world.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <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>
-        
-        <div>Adds the given body to this world.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <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>
-        
-        <div>Adds the given prefabricated system of bodies and joints to this world.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <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>
-        
-        <div>Adds the given joint to this world.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#--%3D%28Seq%5Bsims.dynamics.Body%5D%29" target="_self">--=</a></em>
-        (<em>bs</em> : <a href="" target="contentFrame" class="scala/Seq">scala.Seq</a>[<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>Removes the given sequence of bodies from this world.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <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>
-        
-        <div>Removes the given prefabricated system of bodies and joints from this world.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <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>
-        
-        <div>Removes the given body from this world.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <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>
-        
-        <div>Removes the given joint from this world.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#clear%28%29" target="_self">clear</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Removes all bodies, joints and monitoring methods from this world.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#info" target="_self">info</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        <div>Returns information about this world.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#postStep%28%29" target="_self">postStep</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Initially empty method that is executed after each time step. This method
-   may be overriden to create custom behaviour in a world.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#shapes" target="_self">shapes</a></em>
-         : <a href="" target="contentFrame" class="scala/Seq">scala.Seq</a>[<a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>]
-        
-        <div>Returns all shapes of all bodies in this world.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/World.html#step%28%29" target="_self">step</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Simulates a time step of the duration <code>timeStep</code>.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#toString%28%29" target="_self">toString</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
+      <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>
       
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="timeStep"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>timeStep</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Time intervals in which this world simulates.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="iterations"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>iterations</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Number of constraint corrections per time step.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="gravity"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>gravity</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Gravity in this world.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="bodies"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>bodies</em> : <a href="" target="contentFrame" class="scala/collection/mutable/ArrayBuffer">scala.collection.mutable.ArrayBuffer</a>[<a href="../../sims/dynamics/Body.html" target="_self">Body</a>]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Bodies contained in this world.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="joints"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>joints</em> : <a href="" target="contentFrame" class="scala/collection/mutable/ArrayBuffer">scala.collection.mutable.ArrayBuffer</a>[<a href="../../sims/dynamics/joints/Joint.html" target="_self">Joint</a>]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Joints contained in this world.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="monitors"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>monitors</em> : <a href="" target="contentFrame" class="scala/collection/mutable/ArrayBuffer">scala.collection.mutable.ArrayBuffer</a>[(<a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>, (<a href="../../sims/dynamics/Body.html" target="_self">Body</a>) =&gt; <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>)]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>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.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="detector"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>detector</em> : <a href="../../sims/collision/Detector.html" target="_self">Detector</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Collsion detector who manages collision detection in this world.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="overCWarning"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>overCWarning</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Warning if a body's velocity exceeds the speed of light.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="enableCollisionDetection"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>enableCollisionDetection</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Flag to enable collision detection.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="enablePositionCorrection"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>enablePositionCorrection</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Flag to enable position correction for constraints.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="minLinearVelocity"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>minLinearVelocity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Minimal, non-zero linear velocity.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="minAngularVelocity"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>minAngularVelocity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Minimal, non-zero angular velocity.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="time"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>time</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Current time in this world.</dd></dl>
-      <dl></dl>
-    <hr></hr></div>
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="shapes"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>shapes</em> : <a href="" target="contentFrame" class="scala/Seq">scala.Seq</a>[<a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns all shapes of all bodies in this world.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="%2B%3D%28sims.dynamics.Body%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>+=</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>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Adds the given body to this world.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="%2B%3D%28sims.dynamics.joints.Joint%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>+=</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>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Adds the given joint to this world.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="%2B%3D%28sims.prefabs.Prefab%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>+=</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>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Adds the given prefabricated system of bodies and joints to this world.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="%2B%2B%3D%28Seq%5Bsims.dynamics.Body%5D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>++=</em>(<em>bs</em> : <a href="" target="contentFrame" class="scala/Seq">scala.Seq</a>[<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>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Adds the given sequence of bodies to this world.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="-%3D%28sims.dynamics.Body%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>-=</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>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Removes the given body from this world.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="-%3D%28sims.dynamics.joints.Joint%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>-=</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>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Removes the given joint from this world.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="-%3D%28sims.prefabs.Prefab%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>-=</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>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Removes the given prefabricated system of bodies and joints from this world.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="--%3D%28Seq%5Bsims.dynamics.Body%5D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>--=</em>(<em>bs</em> : <a href="" target="contentFrame" class="scala/Seq">scala.Seq</a>[<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>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Removes the given sequence of bodies from this world.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="clear%28%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>clear</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Removes all bodies, joints and monitoring methods from this world.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="step%28%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>step</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>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></dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="postStep%28%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>postStep</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Initially empty method that is executed after each time step. This method
-   may be overriden to create custom behaviour in a world.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="info"></a><dl>
-      <dt>
+      
+      
+      
+    </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>
         
-        <code></code>
-        <code>def</code>
-        <em>info</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns information about this world.</dd></dl>
-      <dl></dl>
-    <hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/dynamics/joints$content.html b/doc/sims/dynamics/joints$content.html
deleted file mode 100644
index 141c3e3..0000000
--- a/doc/sims/dynamics/joints$content.html
+++ /dev/null
@@ -1,103 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>All classes and objects in sims.dynamics.joints</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()"><div class="page-title"><div>Simple Mechanics Simulator (SiMS) API</div></div><p><div>This document is the API specification for SiMS</div></p><table summary="" cellpadding="3" class="member">
-        <tr><td class="title" colspan="2">Class Summary</td></tr>
-        <tr>
-      <td class="modifiers" valign="top"> 
-        <code>case class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/joints/DistanceJoint.html" target="_self">DistanceJoint</a></em>
-        (<code>val </code><em>node1</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>, <code>val </code><em>anchor1</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <code>val </code><em>node2</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>, <code>val </code><em>anchor2</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>)<code> extends </code><a href="../../sims/dynamics/joints/Joint.html" target="_self">Joint</a><code> with </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a>
-        
-        <div>DistanceJoints keep their connection points at a constant distance.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> trait</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/joints/ForceJoint.html" target="_self">ForceJoint</a></em>
-        <code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        
-        <div>A joint which can apply a force to its anchor bodies, thus adding or removing energy to the system.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/joints/Joint.html" target="_self">Joint</a></em>
-        <code> extends </code><a href="../../sims/dynamics/Constraint.html" target="_self">Constraint</a><code> with </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        
-        <div>Joints constrain the movement of two bodies.
- Their implementation was inspired by Erin Catto's box2d.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>case class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/joints/RevoluteJoint.html" target="_self">RevoluteJoint</a></em>
-        (<code>val </code><em>node1</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>, <code>val </code><em>node2</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>, <code>val </code><em>anchor</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>)<code> extends </code><a href="../../sims/dynamics/joints/Joint.html" target="_self">Joint</a><code> with </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a>
-        
-        <div>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.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>case class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/joints/SpringJoint.html" target="_self">SpringJoint</a></em>
-        (<code>val </code><em>node1</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>, <code>val </code><em>anchor1</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <code>val </code><em>node2</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>, <code>val </code><em>anchor2</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <code>val </code><em>springConstant</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>initialLength</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>)<code> extends </code><a href="../../sims/dynamics/joints/Joint.html" target="_self">Joint</a><code> with </code><a href="../../sims/dynamics/joints/ForceJoint.html" target="_self">ForceJoint</a><code> with </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a>
-        
-        <div>A spring obeying Hooke's law.</div>
-      </td>
-    </tr>        
-        </table>
-<table summary="" cellpadding="3" class="member">
-        <tr><td class="title" colspan="2">Object Summary</td></tr>
-        <tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/joints/DistanceJoint$object.html" target="_self">DistanceJoint</a></em>
-        <code> extends </code>(<a href="../../sims/dynamics/Body.html" target="_self">Body</a>, <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <a href="../../sims/dynamics/Body.html" target="_self">Body</a>, <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) =&gt; <a href="../../sims/dynamics/joints/DistanceJoint.html" target="_self">DistanceJoint</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/joints/RevoluteJoint$object.html" target="_self">RevoluteJoint</a></em>
-        <code> extends </code>(<a href="../../sims/dynamics/Body.html" target="_self">Body</a>, <a href="../../sims/dynamics/Body.html" target="_self">Body</a>, <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) =&gt; <a href="../../sims/dynamics/joints/RevoluteJoint.html" target="_self">RevoluteJoint</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/dynamics/joints/SpringJoint$object.html" target="_self">SpringJoint</a></em>
-        <code> extends </code>(<a href="../../sims/dynamics/Body.html" target="_self">Body</a>, <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <a href="../../sims/dynamics/Body.html" target="_self">Body</a>, <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) =&gt; <a href="../../sims/dynamics/joints/SpringJoint.html" target="_self">SpringJoint</a>
-        
-        
-      </td>
-    </tr>        
-        </table></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 dde0590..0000000
--- a/doc/sims/dynamics/joints$package.html
+++ /dev/null
@@ -1,22 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>List of classes and objects in package sims.dynamics.joints</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()"><table summary="" class="navigation">
-          <tr><td class="navigation-links" valign="top">
-            <a href="../../sims/dynamics/joints$content.html" target="contentFrame">sims.dynamics.joints</a>
-          </td></tr>
-        </table><div><div class="kinds" id="Classes">Classes</div><ul class="list">
-        <li id="Classes_D"><a href="../../sims/dynamics/joints/DistanceJoint.html" target="contentFrame">DistanceJoint</a></li>
-<li id="Classes_F"><a href="../../sims/dynamics/joints/ForceJoint.html" target="contentFrame">ForceJoint</a></li>
-<li id="Classes_J"><a href="../../sims/dynamics/joints/Joint.html" target="contentFrame">Joint</a></li>
-<li id="Classes_R"><a href="../../sims/dynamics/joints/RevoluteJoint.html" target="contentFrame">RevoluteJoint</a></li>
-<li id="Classes_S"><a href="../../sims/dynamics/joints/SpringJoint.html" target="contentFrame">SpringJoint</a></li>
-        </ul>
-<div class="kinds" id="Objects">Objects</div><ul class="list">
-        <li id="Objects_D"><a href="../../sims/dynamics/joints/DistanceJoint$object.html" target="contentFrame">DistanceJoint</a></li>
-<li id="Objects_R"><a href="../../sims/dynamics/joints/RevoluteJoint$object.html" target="contentFrame">RevoluteJoint</a></li>
-<li id="Objects_S"><a href="../../sims/dynamics/joints/SpringJoint$object.html" target="contentFrame">SpringJoint</a></li>
-        </ul></div></body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/joints/DistanceJoint$object.html b/doc/sims/dynamics/joints/DistanceJoint$object.html
deleted file mode 100644
index e4121b3..0000000
--- a/doc/sims/dynamics/joints/DistanceJoint$object.html
+++ /dev/null
@@ -1,82 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object DistanceJoint in sims.dynamics.joints</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../../sims/dynamics/joints$package.html" target="_self">sims.dynamics.joints</a>
-        <br></br>
-        <span class="entity">object  DistanceJoint</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/joints/DistanceJoint"><code>sims/dynamics/joints/DistanceJoint.scala</code></a>]
-      </div><hr></hr>
-      <a name="DistanceJoint"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>DistanceJoint</em>
-      </dt>
-      <dd><code> extends </code>(<a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) =&gt; <a href="../../../sims/dynamics/joints/DistanceJoint.html" target="_self">DistanceJoint</a></dd>
-    </dl>
-      
-
-
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="" target="contentFrame" class="scala/Function4">scala.Function4</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="#toString" target="contentFrame" class="scala/Function4">scala.Function4.toString</a>, <a href="#curry" target="contentFrame" class="scala/Function4">scala.Function4.curry</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
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-      </table>
-
-
-      
-
-
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/joints/DistanceJoint.html b/doc/sims/dynamics/joints/DistanceJoint.html
index bae5f5d..27e4e5c 100644
--- a/doc/sims/dynamics/joints/DistanceJoint.html
+++ b/doc/sims/dynamics/joints/DistanceJoint.html
@@ -1,481 +1,359 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class DistanceJoint in sims.dynamics.joints</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../../sims/dynamics/joints$package.html" target="_self">sims.dynamics.joints</a>
-        <br></br>
-        <span class="entity">class  DistanceJoint</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/joints/DistanceJoint"><code>sims/dynamics/joints/DistanceJoint.scala</code></a>]
-      </div><hr></hr>
-      <a name="DistanceJoint"></a><dl>
-      <dt>
-        
-        <code>case</code>
-        <code>class</code>
-        <em>DistanceJoint</em>(<code>val </code><em>node1</em> : <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <code>val </code><em>anchor1</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <code>val </code><em>node2</em> : <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <code>val </code><em>anchor2</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>)
-      </dt>
-      <dd><code> extends </code><a href="../../../sims/dynamics/joints/Joint.html" target="_self">Joint</a><code> with </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a></dd>
-    </dl>
-      <dl><dd>DistanceJoints keep their connection points at a constant distance.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>node1 - </code>first associated body</dd><dd><code>anchor1 - </code>first connection point</dd><dd><code>node2 - </code>second associated body</dd><dd><code>anchor2 - </code>second connection point</dd></dl>
+        <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>
     
-      <table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Additional Constructor Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/DistanceJoint.html#this%28sims.dynamics.Body%2Csims.dynamics.Body%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>) : <a href="../../../sims/dynamics/joints/DistanceJoint.html" target="_self">DistanceJoint</a>
-        
-        
-      </td>
-    </tr>
-      </table>
-
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/DistanceJoint.html#distance" target="_self">distance</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Distance between the two connection points at initialisation (the desired distance).</div>
-      </td>
-    </tr>
-      </table>
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/DistanceJoint.html#connection1" target="_self">connection1</a></em>
-         : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Returns the connection point on body one (in world coordinates).</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/DistanceJoint.html#connection2" target="_self">connection2</a></em>
-         : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Returns the connection point on body two (in world coordinates).</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/DistanceJoint.html#correctPosition%28Double%29" target="_self">correctPosition</a></em>
-        (<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Corrects the positions of this joint's associated bodies.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/DistanceJoint.html#correctVelocity%28Double%29" target="_self">correctVelocity</a></em>
-        (<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Corrects the velocities of this joint's associated bodies.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/DistanceJoint.html#equals%28Any%29" target="_self">equals</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/DistanceJoint.html#hashCode%28%29" target="_self">hashCode</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        <div>Returns a hash code value for the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/DistanceJoint.html#productArity" target="_self">productArity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/DistanceJoint.html#productElement%28Int%29" target="_self">productElement</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/DistanceJoint.html#productPrefix" target="_self">productPrefix</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/DistanceJoint.html#toString%28%29" target="_self">toString</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        <div>Returns a string representation of the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/DistanceJoint.html#v" target="_self">v</a></em>
-         : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Relative velocity of the connection points.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/DistanceJoint.html#x" target="_self">x</a></em>
-         : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Relative position of the connection points.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      <table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Additional Constructor Details</td></tr>
-        </table><div><a name="this%28sims.dynamics.Body%2Csims.dynamics.Body%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>this</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>) : <a href="../../../sims/dynamics/joints/DistanceJoint.html" target="_self">DistanceJoint</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr></div>
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="distance"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>distance</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Distance between the two connection points at initialisation (the desired distance).</dd></dl>
-      <dl></dl>
-    <hr></hr></div>
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="connection1"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>connection1</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns the connection point on body one (in world coordinates).</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="connection2"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>connection2</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns the connection point on body two (in world coordinates).</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="x"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>x</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Relative position of the connection points.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="v"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>v</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Relative velocity of the connection points.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="correctVelocity%28Double%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>correctVelocity</em>(<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Corrects the velocities of this joint's associated bodies.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../../sims/dynamics/joints/Joint.html" target="_self">Joint</a>.<a href="../../../sims/dynamics/joints/Joint.html#correctVelocity%28Double%29" target="_self">correctVelocity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="correctPosition%28Double%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>correctPosition</em>(<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Corrects the positions of this joint's associated bodies.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../../sims/dynamics/joints/Joint.html" target="_self">Joint</a>.<a href="../../../sims/dynamics/joints/Joint.html#correctPosition%28Double%29" target="_self">correctPosition</a>
-        </dd>
-      </dl><hr></hr>
-<a name="hashCode%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>hashCode</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a hash code value for the object.  
-    <p>
-    The default hashing algorithm is platform dependent.  
-    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></dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>the hash code value for the object.      </p></dd></dl>
-    <hr></hr>
-<a name="toString%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>toString</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a string representation of the object.  
-    <p>
-    The default representation is platform dependent.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>a string representation of the object.     </p></dd></dl>
-    <hr></hr>
-<a name="equals%28Any%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>equals</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.  
-    
-    <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>
-    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>).</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>arg0 - </code>the object to compare against this object for equality.</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.    </p></dd></dl>
-    <hr></hr>
-<a name="productPrefix"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productPrefix</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productPrefix" target="contentFrame" class="scala/Product">scala.Product.productPrefix</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productArity"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productArity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productArity" target="contentFrame" class="scala/Product">scala.Product.productArity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productElement%28Int%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productElement</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productElement" target="contentFrame" class="scala/Product">scala.Product.productElement</a>
-        </dd>
-      </dl><hr></hr></div>
+        </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>
 
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      <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
index 58215b4..76bfe45 100644
--- a/doc/sims/dynamics/joints/ForceJoint.html
+++ b/doc/sims/dynamics/joints/ForceJoint.html
@@ -1,107 +1,166 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>trait ForceJoint in sims.dynamics.joints</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../../script.js"></script>
+        <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 onload="init()">
-        <table summary="" class="navigation">
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-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../../sims/dynamics/joints$package.html" target="_self">sims.dynamics.joints</a>
-        <br></br>
-        <span class="entity">trait  ForceJoint</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/joints/ForceJoint"><code>sims/dynamics/joints/ForceJoint.scala</code></a>]
-      </div><hr></hr>
-      <a name="ForceJoint"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>trait</code>
-        <em>ForceJoint</em>
-      </dt>
-      <dd><code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a></dd>
-    </dl>
-      <dl><dd>A joint which can apply a force to its anchor bodies, thus adding or removing energy to the system.</dd></dl>
-      <dl></dl>
-    <dl>
-      <dt style="margin:10px 0 0 20px;"><b>Direct Known Subclasses:</b></dt>
-      <dd><a href="../../../sims/dynamics/joints/SpringJoint.html" target="_self">SpringJoint</a></dd>
-      </dl><hr></hr>
+        <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>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/ForceJoint.html#applyForce%28%29" target="_self">applyForce</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
+      <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>Applies a force on the achor bodies.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#toString%28%29" target="_self">toString</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
+        
+        
+        <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>
       
-
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="applyForce%28%29"></a><dl>
-      <dt>
+      <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>
         
-        <code>abstract</code>
-        <code>def</code>
-        <em>applyForce</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Applies a force on the achor bodies.</dd></dl>
-      <dl></dl>
-    <hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+        
+        
+      </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
index 0e6908f..4874434 100644
--- a/doc/sims/dynamics/joints/Joint.html
+++ b/doc/sims/dynamics/joints/Joint.html
@@ -1,194 +1,228 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class Joint in sims.dynamics.joints</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../../script.js"></script>
+        <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 onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../../sims/dynamics/joints$package.html" target="_self">sims.dynamics.joints</a>
-        <br></br>
-        <span class="entity">class  Joint</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/joints/Joint"><code>sims/dynamics/joints/Joint.scala</code></a>]
-      </div><hr></hr>
-      <a name="Joint"></a><dl>
-      <dt>
-        
-        <code>abstract</code>
-        <code>class</code>
-        <em>Joint</em>
-      </dt>
-      <dd><code> extends </code><a href="../../../sims/dynamics/Constraint.html" target="_self">Constraint</a><code> with </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a></dd>
-    </dl>
-      <dl><dd>Joints constrain the movement of two bodies.
- Their implementation was inspired by Erin Catto's box2d.</dd></dl>
-      <dl></dl>
-    <dl>
-      <dt style="margin:10px 0 0 20px;"><b>Direct Known Subclasses:</b></dt>
-      <dd><a href="../../../sims/dynamics/joints/DistanceJoint.html" target="_self">DistanceJoint</a>, <a href="../../../sims/dynamics/joints/RevoluteJoint.html" target="_self">RevoluteJoint</a>, <a href="../../../sims/dynamics/joints/SpringJoint.html" target="_self">SpringJoint</a>, <a href="../../../sims/dynamics/joints/test/PrismaticJoint.html" target="_self">PrismaticJoint</a>, <a href="../../../sims/dynamics/joints/test/UnitCircleJoint.html" target="_self">UnitCircleJoint</a></dd>
-      </dl><hr></hr>
+        <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>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/Joint.html#node1" target="_self">node1</a></em>
-         : <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        <div>First body of the joint.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/Joint.html#node2" target="_self">node2</a></em>
-         : <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        <div>Second body of the joint.</div>
-      </td>
-    </tr>
-      </table>
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/Joint.html#correctPosition%28Double%29" target="_self">correctPosition</a></em>
-        (<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Corrects the positions of this joint's associated bodies.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/Joint.html#correctVelocity%28Double%29" target="_self">correctVelocity</a></em>
-        (<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Corrects the velocities of this joint's associated bodies.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#toString%28%29" target="_self">toString</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
+      <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>
       
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="node1"></a><dl>
-      <dt>
+      <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>
+        
         
-        <code>abstract</code>
-        <code>val</code>
-        <em>node1</em> : <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>First body of the joint.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="node2"></a><dl>
-      <dt>
         
-        <code>abstract</code>
-        <code>val</code>
-        <em>node2</em> : <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Second body of the joint.</dd></dl>
-      <dl></dl>
-    <hr></hr></div>
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="correctVelocity%28Double%29"></a><dl>
-      <dt>
+        <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>
         
-        <code>abstract</code>
-        <code>def</code>
-        <em>correctVelocity</em>(<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Corrects the velocities of this joint's associated bodies.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../../sims/dynamics/Constraint.html" target="_self">Constraint</a>.<a href="../../../sims/dynamics/Constraint.html#correctVelocity%28Double%29" target="_self">correctVelocity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="correctPosition%28Double%29"></a><dl>
-      <dt>
+        <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>
         
-        <code>abstract</code>
-        <code>def</code>
-        <em>correctPosition</em>(<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Corrects the positions of this joint's associated bodies.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../../sims/dynamics/Constraint.html" target="_self">Constraint</a>.<a href="../../../sims/dynamics/Constraint.html#correctPosition%28Double%29" target="_self">correctPosition</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/dynamics/joints/RevoluteJoint$object.html b/doc/sims/dynamics/joints/RevoluteJoint$object.html
deleted file mode 100644
index c8a5d71..0000000
--- a/doc/sims/dynamics/joints/RevoluteJoint$object.html
+++ /dev/null
@@ -1,82 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object RevoluteJoint in sims.dynamics.joints</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../../sims/dynamics/joints$package.html" target="_self">sims.dynamics.joints</a>
-        <br></br>
-        <span class="entity">object  RevoluteJoint</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/joints/RevoluteJoint"><code>sims/dynamics/joints/RevoluteJoint.scala</code></a>]
-      </div><hr></hr>
-      <a name="RevoluteJoint"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>RevoluteJoint</em>
-      </dt>
-      <dd><code> extends </code>(<a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) =&gt; <a href="../../../sims/dynamics/joints/RevoluteJoint.html" target="_self">RevoluteJoint</a></dd>
-    </dl>
-      
-
-
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="" target="contentFrame" class="scala/Function3">scala.Function3</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="#toString" target="contentFrame" class="scala/Function3">scala.Function3.toString</a>, <a href="#curry" target="contentFrame" class="scala/Function3">scala.Function3.curry</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      
-
-
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/joints/RevoluteJoint.html b/doc/sims/dynamics/joints/RevoluteJoint.html
index 5184b29..921025a 100644
--- a/doc/sims/dynamics/joints/RevoluteJoint.html
+++ b/doc/sims/dynamics/joints/RevoluteJoint.html
@@ -1,421 +1,307 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class RevoluteJoint in sims.dynamics.joints</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../../sims/dynamics/joints$package.html" target="_self">sims.dynamics.joints</a>
-        <br></br>
-        <span class="entity">class  RevoluteJoint</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/joints/RevoluteJoint"><code>sims/dynamics/joints/RevoluteJoint.scala</code></a>]
-      </div><hr></hr>
-      <a name="RevoluteJoint"></a><dl>
-      <dt>
-        
-        <code>case</code>
-        <code>class</code>
-        <em>RevoluteJoint</em>(<code>val </code><em>node1</em> : <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <code>val </code><em>node2</em> : <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <code>val </code><em>anchor</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>)
-      </dt>
-      <dd><code> extends </code><a href="../../../sims/dynamics/joints/Joint.html" target="_self">Joint</a><code> with </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a></dd>
-    </dl>
-      <dl><dd>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.</dd></dl>
-      <dl></dl>
+        <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>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/RevoluteJoint.html#connection1" target="_self">connection1</a></em>
-         : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/RevoluteJoint.html#connection2" target="_self">connection2</a></em>
-         : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/RevoluteJoint.html#correctPosition%28Double%29" target="_self">correctPosition</a></em>
-        (<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Corrects the positions of this joint's associated bodies.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/RevoluteJoint.html#correctVelocity%28Double%29" target="_self">correctVelocity</a></em>
-        (<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Corrects the velocities of this joint's associated bodies.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/RevoluteJoint.html#equals%28Any%29" target="_self">equals</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/RevoluteJoint.html#hashCode%28%29" target="_self">hashCode</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        <div>Returns a hash code value for the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/RevoluteJoint.html#productArity" target="_self">productArity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/RevoluteJoint.html#productElement%28Int%29" target="_self">productElement</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/RevoluteJoint.html#productPrefix" target="_self">productPrefix</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/RevoluteJoint.html#toString%28%29" target="_self">toString</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        <div>Returns a string representation of the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/RevoluteJoint.html#v" target="_self">v</a></em>
-         : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/RevoluteJoint.html#x" target="_self">x</a></em>
-         : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
+      <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>
       
-
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="connection1"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>connection1</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="connection2"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>connection2</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="x"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>x</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="v"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>v</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="correctVelocity%28Double%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>correctVelocity</em>(<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Corrects the velocities of this joint's associated bodies.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../../sims/dynamics/joints/Joint.html" target="_self">Joint</a>.<a href="../../../sims/dynamics/joints/Joint.html#correctVelocity%28Double%29" target="_self">correctVelocity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="correctPosition%28Double%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>correctPosition</em>(<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Corrects the positions of this joint's associated bodies.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../../sims/dynamics/joints/Joint.html" target="_self">Joint</a>.<a href="../../../sims/dynamics/joints/Joint.html#correctPosition%28Double%29" target="_self">correctPosition</a>
-        </dd>
-      </dl><hr></hr>
-<a name="hashCode%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>hashCode</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a hash code value for the object.  
-    <p>
-    The default hashing algorithm is platform dependent.  
-    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></dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>the hash code value for the object.      </p></dd></dl>
-    <hr></hr>
-<a name="toString%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>toString</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a string representation of the object.  
-    <p>
-    The default representation is platform dependent.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>a string representation of the object.     </p></dd></dl>
-    <hr></hr>
-<a name="equals%28Any%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>equals</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.  
-    
-    <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>
-    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>).</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>arg0 - </code>the object to compare against this object for equality.</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.    </p></dd></dl>
-    <hr></hr>
-<a name="productPrefix"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productPrefix</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productPrefix" target="contentFrame" class="scala/Product">scala.Product.productPrefix</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productArity"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productArity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productArity" target="contentFrame" class="scala/Product">scala.Product.productArity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productElement%28Int%29"></a><dl>
-      <dt>
+      
+      
+      
+    </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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productElement</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productElement" target="contentFrame" class="scala/Product">scala.Product.productElement</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/dynamics/joints/SpringJoint$object.html b/doc/sims/dynamics/joints/SpringJoint$object.html
deleted file mode 100644
index 7730d19..0000000
--- a/doc/sims/dynamics/joints/SpringJoint$object.html
+++ /dev/null
@@ -1,82 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object SpringJoint in sims.dynamics.joints</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../../sims/dynamics/joints$package.html" target="_self">sims.dynamics.joints</a>
-        <br></br>
-        <span class="entity">object  SpringJoint</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/joints/SpringJoint"><code>sims/dynamics/joints/SpringJoint.scala</code></a>]
-      </div><hr></hr>
-      <a name="SpringJoint"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>SpringJoint</em>
-      </dt>
-      <dd><code> extends </code>(<a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) =&gt; <a href="../../../sims/dynamics/joints/SpringJoint.html" target="_self">SpringJoint</a></dd>
-    </dl>
-      
-
-
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="" target="contentFrame" class="scala/Function6">scala.Function6</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="#toString" target="contentFrame" class="scala/Function6">scala.Function6.toString</a>, <a href="#curry" target="contentFrame" class="scala/Function6">scala.Function6.curry</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      
-
-
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/joints/SpringJoint.html b/doc/sims/dynamics/joints/SpringJoint.html
index 4819b16..699f2e0 100644
--- a/doc/sims/dynamics/joints/SpringJoint.html
+++ b/doc/sims/dynamics/joints/SpringJoint.html
@@ -1,574 +1,419 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class SpringJoint in sims.dynamics.joints</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../../sims/dynamics/joints$package.html" target="_self">sims.dynamics.joints</a>
-        <br></br>
-        <span class="entity">class  SpringJoint</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/joints/SpringJoint"><code>sims/dynamics/joints/SpringJoint.scala</code></a>]
-      </div><hr></hr>
-      <a name="SpringJoint"></a><dl>
-      <dt>
-        
-        <code>case</code>
-        <code>class</code>
-        <em>SpringJoint</em>(<code>val </code><em>node1</em> : <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <code>val </code><em>anchor1</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <code>val </code><em>node2</em> : <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <code>val </code><em>anchor2</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <code>val </code><em>springConstant</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>initialLength</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>)
-      </dt>
-      <dd><code> extends </code><a href="../../../sims/dynamics/joints/Joint.html" target="_self">Joint</a><code> with </code><a href="../../../sims/dynamics/joints/ForceJoint.html" target="_self">ForceJoint</a><code> with </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a></dd>
-    </dl>
-      <dl><dd>A spring obeying Hooke's law.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>node1 - </code>first associated body</dd><dd><code>anchor1 - </code>first connection point</dd><dd><code>node2 - </code>second associated body</dd><dd><code>anchor2 - </code>second connection point</dd><dd><code>springConstant - </code>spring constant</dd><dd><code>initialLength - </code>initial length</dd></dl>
+        <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>
     
-      <table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Additional Constructor Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <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>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <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>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/SpringJoint.html#this%28sims.dynamics.Body%2Csims.dynamics.Body%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>) : <a href="../../../sims/dynamics/joints/SpringJoint.html" target="_self">SpringJoint</a>
-        
-        
-      </td>
-    </tr>
-      </table>
-
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> var</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/SpringJoint.html#damping" target="_self">damping</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Damping.</div>
-      </td>
-    </tr>
-      </table>
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/SpringJoint.html#applyForce%28%29" target="_self">applyForce</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Applies the spring force to the connection points.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/SpringJoint.html#connection1" target="_self">connection1</a></em>
-         : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Returns the connection point on body one (in world coordinates).</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/SpringJoint.html#connection2" target="_self">connection2</a></em>
-         : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Returns the connection point on body two (in world coordinates).</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/SpringJoint.html#correctPosition%28Double%29" target="_self">correctPosition</a></em>
-        (<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Corrects the positions of this joint's associated bodies.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/SpringJoint.html#correctVelocity%28Double%29" target="_self">correctVelocity</a></em>
-        (<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Corrects the velocities of this joint's associated bodies.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/SpringJoint.html#equals%28Any%29" target="_self">equals</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/SpringJoint.html#force" target="_self">force</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Returns the spring force.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/SpringJoint.html#hashCode%28%29" target="_self">hashCode</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        <div>Returns a hash code value for the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/SpringJoint.html#productArity" target="_self">productArity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/SpringJoint.html#productElement%28Int%29" target="_self">productElement</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/SpringJoint.html#productPrefix" target="_self">productPrefix</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/SpringJoint.html#toString%28%29" target="_self">toString</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        <div>Returns a string representation of the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/SpringJoint.html#v" target="_self">v</a></em>
-         : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Relative velocity of the connection points.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/SpringJoint.html#x" target="_self">x</a></em>
-         : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Relative position of the connection points.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      <table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Additional Constructor Details</td></tr>
-        </table><div><a name="this%28sims.dynamics.Body%2Csims.geometry.Vector2D%2Csims.dynamics.Body%2Csims.geometry.Vector2D%2CDouble%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>this</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>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="this%28sims.dynamics.Body%2Csims.dynamics.Body%2CDouble%2CDouble%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>this</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>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="this%28sims.dynamics.Body%2Csims.dynamics.Body%2CDouble%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>this</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>) : <a href="../../../sims/dynamics/joints/SpringJoint.html" target="_self">SpringJoint</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr></div>
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="damping"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>var</code>
-        <em>damping</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Damping.</dd></dl>
-      <dl></dl>
-    <hr></hr></div>
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="connection1"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>connection1</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns the connection point on body one (in world coordinates).</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="connection2"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>connection2</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns the connection point on body two (in world coordinates).</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="x"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>x</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Relative position of the connection points.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="v"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>v</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Relative velocity of the connection points.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="force"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>force</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns the spring force.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="applyForce%28%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>applyForce</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Applies the spring force to the connection points.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../../sims/dynamics/joints/ForceJoint.html" target="_self">ForceJoint</a>.<a href="../../../sims/dynamics/joints/ForceJoint.html#applyForce%28%29" target="_self">applyForce</a>
-        </dd>
-      </dl><hr></hr>
-<a name="correctVelocity%28Double%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>correctVelocity</em>(<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Corrects the velocities of this joint's associated bodies.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../../sims/dynamics/joints/Joint.html" target="_self">Joint</a>.<a href="../../../sims/dynamics/joints/Joint.html#correctVelocity%28Double%29" target="_self">correctVelocity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="correctPosition%28Double%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>correctPosition</em>(<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Corrects the positions of this joint's associated bodies.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../../sims/dynamics/joints/Joint.html" target="_self">Joint</a>.<a href="../../../sims/dynamics/joints/Joint.html#correctPosition%28Double%29" target="_self">correctPosition</a>
-        </dd>
-      </dl><hr></hr>
-<a name="hashCode%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>hashCode</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a hash code value for the object.  
-    <p>
-    The default hashing algorithm is platform dependent.  
-    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></dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>the hash code value for the object.      </p></dd></dl>
-    <hr></hr>
-<a name="toString%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>toString</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a string representation of the object.  
-    <p>
-    The default representation is platform dependent.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>a string representation of the object.     </p></dd></dl>
-    <hr></hr>
-<a name="equals%28Any%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>equals</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.  
-    
-    <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>
-    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>).</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>arg0 - </code>the object to compare against this object for equality.</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.    </p></dd></dl>
-    <hr></hr>
-<a name="productPrefix"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productPrefix</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productPrefix" target="contentFrame" class="scala/Product">scala.Product.productPrefix</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productArity"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productArity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productArity" target="contentFrame" class="scala/Product">scala.Product.productArity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productElement%28Int%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productElement</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productElement" target="contentFrame" class="scala/Product">scala.Product.productElement</a>
-        </dd>
-      </dl><hr></hr></div>
+        </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>
 
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      <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
new file mode 100644
index 0000000..bd320c3
--- /dev/null
+++ b/doc/sims/dynamics/joints/package.html
@@ -0,0 +1,105 @@
+<?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$content.html b/doc/sims/dynamics/joints/test$content.html
deleted file mode 100644
index 6509725..0000000
--- a/doc/sims/dynamics/joints/test$content.html
+++ /dev/null
@@ -1,45 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>All classes and objects in sims.dynamics.joints.test</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../../script.js"></script>
-        </head>
-        <body onload="init()"><div class="page-title"><div>Simple Mechanics Simulator (SiMS) API</div></div><p><div>This document is the API specification for SiMS</div></p><table summary="" cellpadding="3" class="member">
-        <tr><td class="title" colspan="2">Class Summary</td></tr>
-        <tr>
-      <td class="modifiers" valign="top"> 
-        <code>case class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/test/PrismaticJoint.html" target="_self">PrismaticJoint</a></em>
-        (<code>val </code><em>node1</em> : <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <code>val </code><em>anchor1</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <code>val </code><em>node2</em> : <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <code>val </code><em>anchor2</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>)<code> extends </code><a href="../../../sims/dynamics/joints/Joint.html" target="_self">Joint</a><code> with </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/test/UnitCircleJoint.html" target="_self">UnitCircleJoint</a></em>
-        (<em>body</em> : <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <em>anchor</em> : <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>)<code> extends </code><a href="../../../sims/dynamics/joints/Joint.html" target="_self">Joint</a>
-        
-        
-      </td>
-    </tr>        
-        </table>
-<table summary="" cellpadding="3" class="member">
-        <tr><td class="title" colspan="2">Object Summary</td></tr>
-        <tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../sims/dynamics/joints/test/PrismaticJoint$object.html" target="_self">PrismaticJoint</a></em>
-        <code> extends </code>(<a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <a href="../../../sims/dynamics/Body.html" target="_self">Body</a>, <a href="../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) =&gt; <a href="../../../sims/dynamics/joints/test/PrismaticJoint.html" target="_self">PrismaticJoint</a>
-        
-        
-      </td>
-    </tr>        
-        </table></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 b34f98d..0000000
--- a/doc/sims/dynamics/joints/test$package.html
+++ /dev/null
@@ -1,17 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>List of classes and objects in package sims.dynamics.joints.test</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../../script.js"></script>
-        </head>
-        <body onload="init()"><table summary="" class="navigation">
-          <tr><td class="navigation-links" valign="top">
-            <a href="../../../sims/dynamics/joints/test$content.html" target="contentFrame">sims.dynamics.joints.test</a>
-          </td></tr>
-        </table><div><div class="kinds" id="Classes">Classes</div><ul class="list">
-        <li id="Classes_P"><a href="../../../sims/dynamics/joints/test/PrismaticJoint.html" target="contentFrame">PrismaticJoint</a></li>
-<li id="Classes_U"><a href="../../../sims/dynamics/joints/test/UnitCircleJoint.html" target="contentFrame">UnitCircleJoint</a></li>
-        </ul>
-<div class="kinds" id="Objects">Objects</div><ul class="list">
-        <li id="Objects_P"><a href="../../../sims/dynamics/joints/test/PrismaticJoint$object.html" target="contentFrame">PrismaticJoint</a></li>
-        </ul></div></body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/dynamics/joints/test/PrismaticJoint$object.html b/doc/sims/dynamics/joints/test/PrismaticJoint$object.html
deleted file mode 100644
index e460df7..0000000
--- a/doc/sims/dynamics/joints/test/PrismaticJoint$object.html
+++ /dev/null
@@ -1,82 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object PrismaticJoint in sims.dynamics.joints.test</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../../../sims/dynamics/joints/test$package.html" target="_self">sims.dynamics.joints.test</a>
-        <br></br>
-        <span class="entity">object  PrismaticJoint</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/joints/test/PrismaticJoint"><code>sims/dynamics/joints/test/PrismaticJoint.scala</code></a>]
-      </div><hr></hr>
-      <a name="PrismaticJoint"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>PrismaticJoint</em>
-      </dt>
-      <dd><code> extends </code>(<a href="../../../../sims/dynamics/Body.html" target="_self">Body</a>, <a href="../../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <a href="../../../../sims/dynamics/Body.html" target="_self">Body</a>, <a href="../../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) =&gt; <a href="../../../../sims/dynamics/joints/test/PrismaticJoint.html" target="_self">PrismaticJoint</a></dd>
-    </dl>
-      
-
-
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="" target="contentFrame" class="scala/Function4">scala.Function4</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="#toString" target="contentFrame" class="scala/Function4">scala.Function4.toString</a>, <a href="#curry" target="contentFrame" class="scala/Function4">scala.Function4.curry</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      
-
-
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </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
index a5c5a94..2883427 100644
--- a/doc/sims/dynamics/joints/test/PrismaticJoint.html
+++ b/doc/sims/dynamics/joints/test/PrismaticJoint.html
@@ -1,502 +1,345 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class PrismaticJoint in sims.dynamics.joints.test</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../../../script.js"></script>
+        <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 onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../../../sims/dynamics/joints/test$package.html" target="_self">sims.dynamics.joints.test</a>
-        <br></br>
-        <span class="entity">class  PrismaticJoint</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/joints/test/PrismaticJoint"><code>sims/dynamics/joints/test/PrismaticJoint.scala</code></a>]
-      </div><hr></hr>
-      <a name="PrismaticJoint"></a><dl>
-      <dt>
-        
-        <code>case</code>
-        <code>class</code>
-        <em>PrismaticJoint</em>(<code>val </code><em>node1</em> : <a href="../../../../sims/dynamics/Body.html" target="_self">Body</a>, <code>val </code><em>anchor1</em> : <a href="../../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <code>val </code><em>node2</em> : <a href="../../../../sims/dynamics/Body.html" target="_self">Body</a>, <code>val </code><em>anchor2</em> : <a href="../../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>)
-      </dt>
-      <dd><code> extends </code><a href="../../../../sims/dynamics/joints/Joint.html" target="_self">Joint</a><code> with </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a></dd>
-    </dl>
-      <table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Additional Constructor Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/PrismaticJoint.html#this%28sims.dynamics.Body%2Csims.dynamics.Body%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>) : <a href="../../../../sims/dynamics/joints/test/PrismaticJoint.html" target="_self">PrismaticJoint</a>
-        
-        
-      </td>
-    </tr>
-      </table>
-
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/PrismaticJoint.html#angle" target="_self">angle</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        
-      </td>
-    </tr>
-      </table>
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/PrismaticJoint.html#connection1" target="_self">connection1</a></em>
-         : <a href="../../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/PrismaticJoint.html#connection2" target="_self">connection2</a></em>
-         : <a href="../../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/PrismaticJoint.html#correctAngular%28Double%29" target="_self">correctAngular</a></em>
-        (<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/PrismaticJoint.html#correctLinear%28Double%29" target="_self">correctLinear</a></em>
-        (<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/PrismaticJoint.html#correctPosition%28Double%29" target="_self">correctPosition</a></em>
-        (<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Corrects the positions of this joint's associated bodies.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/PrismaticJoint.html#correctVelocity%28Double%29" target="_self">correctVelocity</a></em>
-        (<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Corrects the velocities of this joint's associated bodies.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/PrismaticJoint.html#equals%28Any%29" target="_self">equals</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/PrismaticJoint.html#hashCode%28%29" target="_self">hashCode</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        <div>Returns a hash code value for the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/PrismaticJoint.html#productArity" target="_self">productArity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/PrismaticJoint.html#productElement%28Int%29" target="_self">productElement</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/PrismaticJoint.html#productPrefix" target="_self">productPrefix</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/PrismaticJoint.html#toString%28%29" target="_self">toString</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        <div>Returns a string representation of the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/PrismaticJoint.html#v" target="_self">v</a></em>
-         : <a href="../../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/PrismaticJoint.html#x" target="_self">x</a></em>
-         : <a href="../../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      <table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Additional Constructor Details</td></tr>
-        </table><div><a name="this%28sims.dynamics.Body%2Csims.dynamics.Body%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>this</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>) : <a href="../../../../sims/dynamics/joints/test/PrismaticJoint.html" target="_self">PrismaticJoint</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr></div>
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="angle"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>angle</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr></div>
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="connection1"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>connection1</em> : <a href="../../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="connection2"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>connection2</em> : <a href="../../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="x"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>x</em> : <a href="../../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="v"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>v</em> : <a href="../../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="correctVelocity%28Double%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>correctVelocity</em>(<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Corrects the velocities of this joint's associated bodies.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../../../sims/dynamics/joints/Joint.html" target="_self">Joint</a>.<a href="../../../../sims/dynamics/joints/Joint.html#correctVelocity%28Double%29" target="_self">correctVelocity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="correctLinear%28Double%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>correctLinear</em>(<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="correctAngular%28Double%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>correctAngular</em>(<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="correctPosition%28Double%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>correctPosition</em>(<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Corrects the positions of this joint's associated bodies.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../../../sims/dynamics/joints/Joint.html" target="_self">Joint</a>.<a href="../../../../sims/dynamics/joints/Joint.html#correctPosition%28Double%29" target="_self">correctPosition</a>
-        </dd>
-      </dl><hr></hr>
-<a name="hashCode%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>hashCode</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a hash code value for the object.  
-    <p>
-    The default hashing algorithm is platform dependent.  
-    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></dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>the hash code value for the object.      </p></dd></dl>
-    <hr></hr>
-<a name="toString%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>toString</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a string representation of the object.  
-    <p>
-    The default representation is platform dependent.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>a string representation of the object.     </p></dd></dl>
-    <hr></hr>
-<a name="equals%28Any%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>equals</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.  
-    
-    <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>
-    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>).</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>arg0 - </code>the object to compare against this object for equality.</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.    </p></dd></dl>
-    <hr></hr>
-<a name="productPrefix"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productPrefix</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productPrefix" target="contentFrame" class="scala/Product">scala.Product.productPrefix</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productArity"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productArity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productArity" target="contentFrame" class="scala/Product">scala.Product.productArity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productElement%28Int%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productElement</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productElement" target="contentFrame" class="scala/Product">scala.Product.productElement</a>
-        </dd>
-      </dl><hr></hr></div>
+        <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>
 
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      <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
index b580f30..d8291c4 100644
--- a/doc/sims/dynamics/joints/test/UnitCircleJoint.html
+++ b/doc/sims/dynamics/joints/test/UnitCircleJoint.html
@@ -1,261 +1,247 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class UnitCircleJoint in sims.dynamics.joints.test</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../../../script.js"></script>
+        <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 onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../../../sims/dynamics/joints/test$package.html" target="_self">sims.dynamics.joints.test</a>
-        <br></br>
-        <span class="entity">class  UnitCircleJoint</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/dynamics/joints/test/UnitCircleJoint"><code>sims/dynamics/joints/test/UnitCircleJoint.scala</code></a>]
-      </div><hr></hr>
-      <a name="UnitCircleJoint"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>class</code>
-        <em>UnitCircleJoint</em>(<em>body</em> : <a href="../../../../sims/dynamics/Body.html" target="_self">Body</a>, <em>anchor</em> : <a href="../../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>)
-      </dt>
-      <dd><code> extends </code><a href="../../../../sims/dynamics/joints/Joint.html" target="_self">Joint</a></dd>
-    </dl>
+        <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>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/UnitCircleJoint.html#node1" target="_self">node1</a></em>
-         : <a href="../../../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        <div>First body of the joint.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/UnitCircleJoint.html#node2" target="_self">node2</a></em>
-         : <a href="../../../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        <div>Second body of the joint.</div>
-      </td>
-    </tr>
-      </table>
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/UnitCircleJoint.html#connection" target="_self">connection</a></em>
-         : <a href="../../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/UnitCircleJoint.html#correctPosition%28Double%29" target="_self">correctPosition</a></em>
-        (<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Corrects the positions of this joint's associated bodies.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/UnitCircleJoint.html#correctVelocity%28Double%29" target="_self">correctVelocity</a></em>
-        (<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        <div>Corrects the velocities of this joint's associated bodies.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/UnitCircleJoint.html#v" target="_self">v</a></em>
-         : <a href="../../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../../../sims/dynamics/joints/test/UnitCircleJoint.html#x" target="_self">x</a></em>
-         : <a href="../../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#toString%28%29" target="_self">toString</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
+      <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">
       
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="node1"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>node1</em> : <a href="../../../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>First body of the joint.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../../../sims/dynamics/joints/Joint.html" target="_self">Joint</a>.<a href="../../../../sims/dynamics/joints/Joint.html#node1" target="_self">node1</a>
-        </dd>
-      </dl><hr></hr>
-<a name="node2"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>node2</em> : <a href="../../../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Second body of the joint.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../../../sims/dynamics/joints/Joint.html" target="_self">Joint</a>.<a href="../../../../sims/dynamics/joints/Joint.html#node2" target="_self">node2</a>
-        </dd>
-      </dl><hr></hr></div>
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="connection"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>connection</em> : <a href="../../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="x"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>x</em> : <a href="../../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="v"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>v</em> : <a href="../../../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="correctVelocity%28Double%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>correctVelocity</em>(<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Corrects the velocities of this joint's associated bodies.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../../../sims/dynamics/joints/Joint.html" target="_self">Joint</a>.<a href="../../../../sims/dynamics/joints/Joint.html#correctVelocity%28Double%29" target="_self">correctVelocity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="correctPosition%28Double%29"></a><dl>
-      <dt>
+      
+      
+      
+      
+    </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>
         
-        <code></code>
-        <code>def</code>
-        <em>correctPosition</em>(<em>h</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Corrects the positions of this joint's associated bodies.</dd></dl>
-      <dl></dl>
-    <dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../../../sims/dynamics/joints/Joint.html" target="_self">Joint</a>.<a href="../../../../sims/dynamics/joints/Joint.html#correctPosition%28Double%29" target="_self">correctPosition</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </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
new file mode 100644
index 0000000..43414db
--- /dev/null
+++ b/doc/sims/dynamics/joints/test/package.html
@@ -0,0 +1,70 @@
+<?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
new file mode 100644
index 0000000..f9e3a86
--- /dev/null
+++ b/doc/sims/dynamics/package.html
@@ -0,0 +1,137 @@
+<?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$content.html b/doc/sims/geometry$content.html
deleted file mode 100644
index d5e1e86..0000000
--- a/doc/sims/geometry$content.html
+++ /dev/null
@@ -1,111 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>All classes and objects in sims.geometry</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../script.js"></script>
-        </head>
-        <body onload="init()"><div class="page-title"><div>Simple Mechanics Simulator (SiMS) API</div></div><p><div>This document is the API specification for SiMS</div></p><table summary="" cellpadding="3" class="member">
-        <tr><td class="title" colspan="2">Class Summary</td></tr>
-        <tr>
-      <td class="modifiers" valign="top"> 
-        <code> trait</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/geometry/ConvexPolygon.html" target="_self">ConvexPolygon</a></em>
-        <code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        
-        <div>Common properties of all convex polygons.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>case class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/geometry/Projection.html" target="_self">Projection</a></em>
-        (<code>val </code><em>axis</em> : <a href="../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <code>val </code><em>lower</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>upper</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>)<code> extends </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a>
-        
-        <div>Projection on an axis.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>case class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/geometry/Ray.html" target="_self">Ray</a></em>
-        (<code>val </code><em>point</em> : <a href="../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <code>val </code><em>direction</em> : <a href="../sims/geometry/Vector2D.html" target="_self">Vector2D</a>)<code> extends </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a>
-        
-        <div>A ray.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>case class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/geometry/Segment.html" target="_self">Segment</a></em>
-        (<code>val </code><em>vertex1</em> : <a href="../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <code>val </code><em>vertex2</em> : <a href="../sims/geometry/Vector2D.html" target="_self">Vector2D</a>)<code> extends </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a>
-        
-        <div>A segment is given by its vertices.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>case class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/geometry/Vector2D.html" target="_self">Vector2D</a></em>
-        (<code>val </code><em>x</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>y</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>)<code> extends </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a>
-        
-        <div>A 2D vector.</div>
-      </td>
-    </tr>        
-        </table>
-<table summary="" cellpadding="3" class="member">
-        <tr><td class="title" colspan="2">Object Summary</td></tr>
-        <tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/geometry/Projection$object.html" target="_self">Projection</a></em>
-        <code> extends </code>(<a href="../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) =&gt; <a href="../sims/geometry/Projection.html" target="_self">Projection</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/geometry/Ray$object.html" target="_self">Ray</a></em>
-        <code> extends </code>(<a href="../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <a href="../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) =&gt; <a href="../sims/geometry/Ray.html" target="_self">Ray</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/geometry/Segment$object.html" target="_self">Segment</a></em>
-        <code> extends </code>(<a href="../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <a href="../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) =&gt; <a href="../sims/geometry/Segment.html" target="_self">Segment</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/geometry/Vector2D$object.html" target="_self">Vector2D</a></em>
-        <code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        
-        <div>Contains special vectors.</div>
-      </td>
-    </tr>        
-        </table></body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/geometry$package.html b/doc/sims/geometry$package.html
deleted file mode 100644
index c3a4d63..0000000
--- a/doc/sims/geometry$package.html
+++ /dev/null
@@ -1,23 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>List of classes and objects in package sims.geometry</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../script.js"></script>
-        </head>
-        <body onload="init()"><table summary="" class="navigation">
-          <tr><td class="navigation-links" valign="top">
-            <a href="../sims/geometry$content.html" target="contentFrame">sims.geometry</a>
-          </td></tr>
-        </table><div><div class="kinds" id="Classes">Classes</div><ul class="list">
-        <li id="Classes_C"><a href="../sims/geometry/ConvexPolygon.html" target="contentFrame">ConvexPolygon</a></li>
-<li id="Classes_P"><a href="../sims/geometry/Projection.html" target="contentFrame">Projection</a></li>
-<li id="Classes_R"><a href="../sims/geometry/Ray.html" target="contentFrame">Ray</a></li>
-<li id="Classes_S"><a href="../sims/geometry/Segment.html" target="contentFrame">Segment</a></li>
-<li id="Classes_V"><a href="../sims/geometry/Vector2D.html" target="contentFrame">Vector2D</a></li>
-        </ul>
-<div class="kinds" id="Objects">Objects</div><ul class="list">
-        <li id="Objects_P"><a href="../sims/geometry/Projection$object.html" target="contentFrame">Projection</a></li>
-<li id="Objects_R"><a href="../sims/geometry/Ray$object.html" target="contentFrame">Ray</a></li>
-<li id="Objects_S"><a href="../sims/geometry/Segment$object.html" target="contentFrame">Segment</a></li>
-<li id="Objects_V"><a href="../sims/geometry/Vector2D$object.html" target="contentFrame">Vector2D</a></li>
-        </ul></div></body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/geometry/ConvexPolygon.html b/doc/sims/geometry/ConvexPolygon.html
index 5db8789..e3cdc96 100644
--- a/doc/sims/geometry/ConvexPolygon.html
+++ b/doc/sims/geometry/ConvexPolygon.html
@@ -1,210 +1,228 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?xml version='1.0' encoding='UTF-8'?>
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN" "http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
 <html>
-        <head><title>trait ConvexPolygon in sims.geometry</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
+        <head>
+          <title>Scaladoc for sims.geometry.ConvexPolygon</title>
+          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
+		      <script type="text/javascript" src="../../lib/jquery.js"></script>
+          
+		  <style type="text/css">
+		    @import url(../../lib/template.css) screen;
+		  </style>
+		  <script type="text/javascript" src="../../lib/template.js"></script>
+    
         </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/geometry$package.html" target="_self">sims.geometry</a>
-        <br></br>
-        <span class="entity">trait  ConvexPolygon</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/geometry/ConvexPolygon"><code>sims/geometry/ConvexPolygon.scala</code></a>]
-      </div><hr></hr>
-      <a name="ConvexPolygon"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>trait</code>
-        <em>ConvexPolygon</em>
-      </dt>
-      <dd><code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a></dd>
-    </dl>
-      <dl><dd>Common properties of all convex polygons.</dd></dl>
-      <dl></dl>
-    <dl>
-      <dt style="margin:10px 0 0 20px;"><b>Direct Known Subclasses:</b></dt>
-      <dd><a href="../../sims/dynamics/Rectangle.html" target="_self">Rectangle</a>, <a href="../../sims/dynamics/RegularPolygon.html" target="_self">RegularPolygon</a></dd>
-      </dl><hr></hr>
+        <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>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/ConvexPolygon.html#AABB" target="_self">AABB</a></em>
-         : <a href="../../sims/collision/AABB.html" target="_self">AABB</a>
-        
-        <div>Returns this polygon's axis aligned bounding box.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/ConvexPolygon.html#contains%28sims.geometry.Vector2D%29" target="_self">contains</a></em>
-        (<em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>Checks if the point <code>point</code> is contained in this polygon.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/ConvexPolygon.html#project%28sims.geometry.Vector2D%29" target="_self">project</a></em>
-        (<em>axis</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/geometry/Projection.html" target="_self">Projection</a>
+      <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>Returns the projection of this polygon onto the line given by the directional vector <code>axis</code>.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/ConvexPolygon.html#sides" target="_self">sides</a></em>
-         : <a href="" target="contentFrame" class="scala/Array">scala.Array</a>[<a href="../../sims/geometry/Segment.html" target="_self">Segment</a>]
         
-        <div>Returns all sides of this polygon. The sides are ordered counter-clockwise, the first vertex of the side
-   giving the side index.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>abstract def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/ConvexPolygon.html#vertices" target="_self">vertices</a></em>
-         : <a href="" target="contentFrame" class="scala/Seq">scala.Seq</a>[<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>]
         
-        <div>Returns positions of all vertices of this Polygon. Vertices are ordered counter-clockwise.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#toString%28%29" target="_self">toString</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
+        <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>
       
-
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="vertices"></a><dl>
-      <dt>
-        
-        <code>abstract</code>
-        <code>def</code>
-        <em>vertices</em> : <a href="" target="contentFrame" class="scala/Seq">scala.Seq</a>[<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns positions of all vertices of this Polygon. Vertices are ordered counter-clockwise.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>position vectors of the vertices</dd></dl>
-    <hr></hr>
-<a name="sides"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>sides</em> : <a href="" target="contentFrame" class="scala/Array">scala.Array</a>[<a href="../../sims/geometry/Segment.html" target="_self">Segment</a>]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns all sides of this polygon. The sides are ordered counter-clockwise, the first vertex of the side
-   giving the side index.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="project%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
+      
+      
+      
+    </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>
         
-        <code></code>
-        <code>def</code>
-        <em>project</em>(<em>axis</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/geometry/Projection.html" target="_self">Projection</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns the projection of this polygon onto the line given by the directional vector <code>axis</code>.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>axis - </code>directional vector of the line</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>projection of this polygon</dd></dl>
-    <hr></hr>
-<a name="AABB"></a><dl>
-      <dt>
         
-        <code></code>
-        <code>def</code>
-        <em>AABB</em> : <a href="../../sims/collision/AABB.html" target="_self">AABB</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns this polygon's axis aligned bounding box.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>See Also</b></dt><dd>collision.AABB</dd></dl>
-    <hr></hr>
-<a name="contains%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
         
-        <code></code>
-        <code>def</code>
-        <em>contains</em>(<em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>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.</dd></dl>
-      <dl></dl>
-    <hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/geometry/Projection$object.html b/doc/sims/geometry/Projection$object.html
deleted file mode 100644
index 4b01917..0000000
--- a/doc/sims/geometry/Projection$object.html
+++ /dev/null
@@ -1,82 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object Projection in sims.geometry</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/geometry$package.html" target="_self">sims.geometry</a>
-        <br></br>
-        <span class="entity">object  Projection</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/geometry/Projection"><code>sims/geometry/Projection.scala</code></a>]
-      </div><hr></hr>
-      <a name="Projection"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>Projection</em>
-      </dt>
-      <dd><code> extends </code>(<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) =&gt; <a href="../../sims/geometry/Projection.html" target="_self">Projection</a></dd>
-    </dl>
-      
-
-
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="" target="contentFrame" class="scala/Function3">scala.Function3</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="#toString" target="contentFrame" class="scala/Function3">scala.Function3.toString</a>, <a href="#curry" target="contentFrame" class="scala/Function3">scala.Function3.curry</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      
-
-
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/geometry/Projection.html b/doc/sims/geometry/Projection.html
index ad69275..7c180ac 100644
--- a/doc/sims/geometry/Projection.html
+++ b/doc/sims/geometry/Projection.html
@@ -1,330 +1,263 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class Projection in sims.geometry</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/geometry$package.html" target="_self">sims.geometry</a>
-        <br></br>
-        <span class="entity">class  Projection</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/geometry/Projection"><code>sims/geometry/Projection.scala</code></a>]
-      </div><hr></hr>
-      <a name="Projection"></a><dl>
-      <dt>
-        
-        <code>case</code>
-        <code>class</code>
-        <em>Projection</em>(<code>val </code><em>axis</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <code>val </code><em>lower</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>upper</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>)
-      </dt>
-      <dd><code> extends </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a></dd>
-    </dl>
-      <dl><dd>Projection on an axis.
- <p>
- Projections are commonly used in SiMS for collision detection.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>axis - </code>directional vector of the axis of the projection</dd><dd><code>lower - </code>lower value of the projection</dd><dd><code>upper - </code>upper value of the projection</dd></dl>
+        <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>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Projection.html#equals%28Any%29" target="_self">equals</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Projection.html#hashCode%28%29" target="_self">hashCode</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        <div>Returns a hash code value for the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Projection.html#overlap%28sims.geometry.Projection%29" target="_self">overlap</a></em>
-        (<em>other</em> : <a href="../../sims/geometry/Projection.html" target="_self">Projection</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Returns the overlap between this projection and another projection <code>other</code>.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Projection.html#overlaps%28sims.geometry.Projection%29" target="_self">overlaps</a></em>
-        (<em>other</em> : <a href="../../sims/geometry/Projection.html" target="_self">Projection</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>Checks this projection for overlap with another projection <code>other</code>.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Projection.html#productArity" target="_self">productArity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Projection.html#productElement%28Int%29" target="_self">productElement</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Projection.html#productPrefix" target="_self">productPrefix</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Projection.html#toString%28%29" target="_self">toString</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        <div>Returns a string representation of the object.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
+      <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>
       
-
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="overlaps%28sims.geometry.Projection%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>overlaps</em>(<em>other</em> : <a href="../../sims/geometry/Projection.html" target="_self">Projection</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Checks this projection for overlap with another projection <code>other</code>.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Throws</b></dt><dd><code>IllegalArgumentExcepion - </code>if both projections axes aren't the same</dd></dl>
-    <hr></hr>
-<a name="overlap%28sims.geometry.Projection%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>overlap</em>(<em>other</em> : <a href="../../sims/geometry/Projection.html" target="_self">Projection</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns the overlap between this projection and another projection <code>other</code>.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Throws</b></dt><dd><code>IllegalArgumentExcepion - </code>if both projections axes aren't the same</dd></dl>
-    <hr></hr>
-<a name="hashCode%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>hashCode</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a hash code value for the object.  
-    <p>
-    The default hashing algorithm is platform dependent.  
-    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></dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>the hash code value for the object.      </p></dd></dl>
-    <hr></hr>
-<a name="toString%28%29"></a><dl>
-      <dt>
+      
+      
+    </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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>toString</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a string representation of the object.  
-    <p>
-    The default representation is platform dependent.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>a string representation of the object.     </p></dd></dl>
-    <hr></hr>
-<a name="equals%28Any%29"></a><dl>
-      <dt>
         
-        <code>override</code>
-        <code>def</code>
-        <em>equals</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.  
-    
-    <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>
-    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>).</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>arg0 - </code>the object to compare against this object for equality.</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.    </p></dd></dl>
-    <hr></hr>
-<a name="productPrefix"></a><dl>
-      <dt>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productPrefix</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productPrefix" target="contentFrame" class="scala/Product">scala.Product.productPrefix</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productArity"></a><dl>
-      <dt>
+        <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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productArity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productArity" target="contentFrame" class="scala/Product">scala.Product.productArity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productElement%28Int%29"></a><dl>
-      <dt>
+        <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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productElement</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productElement" target="contentFrame" class="scala/Product">scala.Product.productElement</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/geometry/Ray$object.html b/doc/sims/geometry/Ray$object.html
deleted file mode 100644
index 199fc55..0000000
--- a/doc/sims/geometry/Ray$object.html
+++ /dev/null
@@ -1,82 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object Ray in sims.geometry</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/geometry$package.html" target="_self">sims.geometry</a>
-        <br></br>
-        <span class="entity">object  Ray</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/geometry/Ray"><code>sims/geometry/Ray.scala</code></a>]
-      </div><hr></hr>
-      <a name="Ray"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>Ray</em>
-      </dt>
-      <dd><code> extends </code>(<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) =&gt; <a href="../../sims/geometry/Ray.html" target="_self">Ray</a></dd>
-    </dl>
-      
-
-
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="" target="contentFrame" class="scala/Function2">scala.Function2</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="#toString" target="contentFrame" class="scala/Function2">scala.Function2.toString</a>, <a href="#curry" target="contentFrame" class="scala/Function2">scala.Function2.curry</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      
-
-
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/geometry/Ray.html b/doc/sims/geometry/Ray.html
index 79288ce..d2a8ec8 100644
--- a/doc/sims/geometry/Ray.html
+++ b/doc/sims/geometry/Ray.html
@@ -1,328 +1,253 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class Ray in sims.geometry</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/geometry$package.html" target="_self">sims.geometry</a>
-        <br></br>
-        <span class="entity">class  Ray</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/geometry/Ray"><code>sims/geometry/Ray.scala</code></a>]
-      </div><hr></hr>
-      <a name="Ray"></a><dl>
-      <dt>
-        
-        <code>case</code>
-        <code>class</code>
-        <em>Ray</em>(<code>val </code><em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <code>val </code><em>direction</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>)
-      </dt>
-      <dd><code> extends </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a></dd>
-    </dl>
-      <dl><dd>A ray.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>point - </code>a point on the ray</dd><dd><code>direction - </code>this ray's directional vector</dd><dt style="margin:10px 0 0 20px;">
-        <b>Throws</b></dt><dd><code>IllegalArgumentException - </code>if the directional vector is the null vector</dd></dl>
+        <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>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Ray.html#contains%28sims.geometry.Vector2D%29" target="_self">contains</a></em>
-        (<em>p</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>Checks if this ray contains the point <code>p</code>.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Ray.html#equals%28Any%29" target="_self">equals</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Ray.html#hashCode%28%29" target="_self">hashCode</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        <div>Returns a hash code value for the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Ray.html#intersects%28sims.geometry.Segment%29" target="_self">intersects</a></em>
-        (<em>s</em> : <a href="../../sims/geometry/Segment.html" target="_self">Segment</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>Checks this ray and the given segment for intersection.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Ray.html#productArity" target="_self">productArity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Ray.html#productElement%28Int%29" target="_self">productElement</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Ray.html#productPrefix" target="_self">productPrefix</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Ray.html#toString%28%29" target="_self">toString</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        <div>Returns a string representation of the object.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
+      <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>
       
-
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="intersects%28sims.geometry.Segment%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>intersects</em>(<em>s</em> : <a href="../../sims/geometry/Segment.html" target="_self">Segment</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Checks this ray and the given segment for intersection.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>s - </code>the segment to test for intersection</dd></dl>
-    <hr></hr>
-<a name="contains%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>contains</em>(<em>p</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Checks if this ray contains the point <code>p</code>.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="hashCode%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>hashCode</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a hash code value for the object.  
-    <p>
-    The default hashing algorithm is platform dependent.  
-    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></dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>the hash code value for the object.      </p></dd></dl>
-    <hr></hr>
-<a name="toString%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>toString</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a string representation of the object.  
-    <p>
-    The default representation is platform dependent.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>a string representation of the object.     </p></dd></dl>
-    <hr></hr>
-<a name="equals%28Any%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>equals</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.  
-    
-    <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>
-    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>).</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>arg0 - </code>the object to compare against this object for equality.</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.    </p></dd></dl>
-    <hr></hr>
-<a name="productPrefix"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productPrefix</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productPrefix" target="contentFrame" class="scala/Product">scala.Product.productPrefix</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productArity"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productArity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productArity" target="contentFrame" class="scala/Product">scala.Product.productArity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productElement%28Int%29"></a><dl>
-      <dt>
+      
+      
+    </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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productElement</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productElement" target="contentFrame" class="scala/Product">scala.Product.productElement</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/geometry/Segment$object.html b/doc/sims/geometry/Segment$object.html
deleted file mode 100644
index fae9e31..0000000
--- a/doc/sims/geometry/Segment$object.html
+++ /dev/null
@@ -1,82 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object Segment in sims.geometry</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/geometry$package.html" target="_self">sims.geometry</a>
-        <br></br>
-        <span class="entity">object  Segment</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/geometry/Segment"><code>sims/geometry/Segment.scala</code></a>]
-      </div><hr></hr>
-      <a name="Segment"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>Segment</em>
-      </dt>
-      <dd><code> extends </code>(<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) =&gt; <a href="../../sims/geometry/Segment.html" target="_self">Segment</a></dd>
-    </dl>
-      
-
-
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="" target="contentFrame" class="scala/Function2">scala.Function2</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="#toString" target="contentFrame" class="scala/Function2">scala.Function2.toString</a>, <a href="#curry" target="contentFrame" class="scala/Function2">scala.Function2.curry</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      
-
-
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/geometry/Segment.html b/doc/sims/geometry/Segment.html
index 084cfb6..2d79999 100644
--- a/doc/sims/geometry/Segment.html
+++ b/doc/sims/geometry/Segment.html
@@ -1,442 +1,317 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class Segment in sims.geometry</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/geometry$package.html" target="_self">sims.geometry</a>
-        <br></br>
-        <span class="entity">class  Segment</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/geometry/Segment"><code>sims/geometry/Segment.scala</code></a>]
-      </div><hr></hr>
-      <a name="Segment"></a><dl>
-      <dt>
-        
-        <code>case</code>
-        <code>class</code>
-        <em>Segment</em>(<code>val </code><em>vertex1</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <code>val </code><em>vertex2</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>)
-      </dt>
-      <dd><code> extends </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a></dd>
-    </dl>
-      <dl><dd>A segment is given by its vertices.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>vertex1 - </code>position vector of the first vertex</dd><dd><code>vertex2 - </code>position vector of the second vertex</dd><dt style="margin:10px 0 0 20px;">
-        <b>Throws</b></dt><dd><code>IllegalArgumentException - </code>if both vertices are equal</dd></dl>
+        <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>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Segment.html#d" target="_self">d</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Vector from <code>vertex1</code> to <code>vertex2</code>.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Segment.html#d0" target="_self">d0</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Unit directional vector.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Segment.html#length" target="_self">length</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Length of this segment.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Segment.html#n" target="_self">n</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Right normal vector.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Segment.html#n0" target="_self">n0</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Right normal unit vector.</div>
-      </td>
-    </tr>
-      </table>
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Segment.html#clipToSegment%28sims.geometry.Segment%29" target="_self">clipToSegment</a></em>
-        (<em>s</em> : <a href="../../sims/geometry/Segment.html" target="_self">Segment</a>) : <a href="" target="contentFrame" class="scala/Option">scala.Option</a>[<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>]
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Segment.html#distance%28sims.geometry.Vector2D%29" target="_self">distance</a></em>
-        (<em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Smallest distance between this segment and the point <code>point</code>.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Segment.html#equals%28Any%29" target="_self">equals</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Segment.html#hashCode%28%29" target="_self">hashCode</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        <div>Returns a hash code value for the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Segment.html#productArity" target="_self">productArity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Segment.html#productElement%28Int%29" target="_self">productElement</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Segment.html#productPrefix" target="_self">productPrefix</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Segment.html#toString%28%29" target="_self">toString</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        <div>Returns a string representation of the object.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
+      <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>
       
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="length"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>length</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Length of this segment.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="d"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>d</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Vector from <code>vertex1</code> to <code>vertex2</code>.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="d0"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>d0</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Unit directional vector.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="n"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>n</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Right normal vector.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="n0"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>n0</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Right normal unit vector.</dd></dl>
-      <dl></dl>
-    <hr></hr></div>
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="distance%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>distance</em>(<em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Smallest distance between this segment and the point <code>point</code>.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="clipToSegment%28sims.geometry.Segment%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>clipToSegment</em>(<em>s</em> : <a href="../../sims/geometry/Segment.html" target="_self">Segment</a>) : <a href="" target="contentFrame" class="scala/Option">scala.Option</a>[<a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>]
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="hashCode%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>hashCode</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a hash code value for the object.  
-    <p>
-    The default hashing algorithm is platform dependent.  
-    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></dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>the hash code value for the object.      </p></dd></dl>
-    <hr></hr>
-<a name="toString%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>toString</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a string representation of the object.  
-    <p>
-    The default representation is platform dependent.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>a string representation of the object.     </p></dd></dl>
-    <hr></hr>
-<a name="equals%28Any%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>equals</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.  
-    
-    <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>
-    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>).</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>arg0 - </code>the object to compare against this object for equality.</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.    </p></dd></dl>
-    <hr></hr>
-<a name="productPrefix"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productPrefix</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productPrefix" target="contentFrame" class="scala/Product">scala.Product.productPrefix</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productArity"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productArity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productArity" target="contentFrame" class="scala/Product">scala.Product.productArity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productElement%28Int%29"></a><dl>
-      <dt>
+      
+      
+    </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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productElement</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productElement" target="contentFrame" class="scala/Product">scala.Product.productElement</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/geometry/Vector2D$.html b/doc/sims/geometry/Vector2D$.html
new file mode 100644
index 0000000..52ef68b
--- /dev/null
+++ b/doc/sims/geometry/Vector2D$.html
@@ -0,0 +1,190 @@
+<?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$object.html b/doc/sims/geometry/Vector2D$object.html
deleted file mode 100644
index ee73bb6..0000000
--- a/doc/sims/geometry/Vector2D$object.html
+++ /dev/null
@@ -1,150 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object Vector2D in sims.geometry</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/geometry$package.html" target="_self">sims.geometry</a>
-        <br></br>
-        <span class="entity">object  Vector2D</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/geometry/Vector2D"><code>sims/geometry/Vector2D.scala</code></a>]
-      </div><hr></hr>
-      <a name="Vector2D"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>Vector2D</em>
-      </dt>
-      <dd><code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a></dd>
-    </dl>
-      <dl><dd>Contains special vectors.</dd></dl>
-      <dl></dl>
-    
-      
-
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D$object.html#Null" target="_self">Null</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Null vector.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D$object.html#i" target="_self">i</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Horizontal unit vector. (1,0)</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D$object.html#j" target="_self">j</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Vertical unit vector. (0,1)</div>
-      </td>
-    </tr>
-      </table>
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#toString%28%29" target="_self">toString</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="Null"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>Null</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Null vector.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="i"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>i</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Horizontal unit vector. (1,0)</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="j"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>j</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Vertical unit vector. (0,1)</dd></dl>
-      <dl></dl>
-    <hr></hr></div>
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/geometry/Vector2D.html b/doc/sims/geometry/Vector2D.html
index 816428e..990b144 100644
--- a/doc/sims/geometry/Vector2D.html
+++ b/doc/sims/geometry/Vector2D.html
@@ -1,628 +1,435 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class Vector2D in sims.geometry</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
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-        
-      <div class="entity">
-        <a href="../../sims/geometry$package.html" target="_self">sims.geometry</a>
-        <br></br>
-        <span class="entity">class  Vector2D</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/geometry/Vector2D"><code>sims/geometry/Vector2D.scala</code></a>]
-      </div><hr></hr>
-      <a name="Vector2D"></a><dl>
-      <dt>
-        
-        <code>case</code>
-        <code>class</code>
-        <em>Vector2D</em>(<code>val </code><em>x</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>y</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>)
-      </dt>
-      <dd><code> extends </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a></dd>
-    </dl>
-      <dl><dd>A 2D vector.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>x - </code>1st component</dd><dd><code>y - </code>2nd component</dd></dl>
+        <head>
+          <title>Scaladoc for sims.geometry.Vector2D</title>
+          <meta http-equiv="content-type" content="text/html; charset=UTF-8" />
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+        <body class="type">
       
+      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">geometry</a></p>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D.html#length" target="_self">length</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Norm or length of this vector.</div>
-      </td>
-    </tr>
-      </table>
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D.html#*%28Double%29" target="_self">*</a></em>
-        (<em>n</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Scalar multiplication.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D.html#%2B%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>Vector addition.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D.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>Vector substraction.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D.html#%2F%28Double%29" target="_self">/</a></em>
-        (<em>n</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Scalar division.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D.html#components" target="_self">components</a></em>
-         : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>]
-        
-        <div>Returns a list of this vector's components.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D.html#cross%28sims.geometry.Vector2D%29" target="_self">cross</a></em>
-        (<em>v</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Cross product. Length only because in 2D. The direction would be given by the x3-axis.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D.html#dot%28sims.geometry.Vector2D%29" target="_self">dot</a></em>
-        (<em>v</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Dot product.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D.html#equals%28Any%29" target="_self">equals</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D.html#hashCode%28%29" target="_self">hashCode</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        <div>Returns a hash code value for the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D.html#isNull" target="_self">isNull</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>Checks if this vector is the null vector.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D.html#leftNormal" target="_self">leftNormal</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Left normal vector. (-y, x)</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D.html#productArity" target="_self">productArity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D.html#productElement%28Int%29" target="_self">productElement</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D.html#productPrefix" target="_self">productPrefix</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D.html#project%28sims.geometry.Vector2D%29" target="_self">project</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>Returns the projection of this vector onto the vector <code>v</code>.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D.html#rightNormal" target="_self">rightNormal</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Right normal vector. (y, -x)</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D.html#rotate%28Double%29" target="_self">rotate</a></em>
-        (<em>angle</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Returns a rotation of this vector by <code>angle</code> radian.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D.html#toString%28%29" target="_self">toString</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        <div>Returns a string representation of the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D.html#unary_-" target="_self">unary_-</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Unary minus.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/geometry/Vector2D.html#unit" target="_self">unit</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Unit vector.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
+      <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>
       
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="length"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>length</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Norm or length of this vector.</dd></dl>
-      <dl></dl>
-    <hr></hr></div>
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="%2B%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>+</em>(<em>v</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Vector addition.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="-%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>-</em>(<em>v</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Vector substraction.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="*%28Double%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>*</em>(<em>n</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Scalar multiplication.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="%2F%28Double%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>/</em>(<em>n</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Scalar division.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="unary_-"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>unary_-</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Unary minus.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="dot%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>dot</em>(<em>v</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Dot product.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="cross%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>cross</em>(<em>v</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Cross product. Length only because in 2D. The direction would be given by the x3-axis.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="unit"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>unit</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Unit vector.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="project%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>project</em>(<em>v</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns the projection of this vector onto the vector <code>v</code>.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="rotate%28Double%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>rotate</em>(<em>angle</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a rotation of this vector by <code>angle</code> radian.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="leftNormal"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>leftNormal</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Left normal vector. (-y, x)</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="rightNormal"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>rightNormal</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Right normal vector. (y, -x)</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="isNull"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>isNull</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Checks if this vector is the null vector.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="components"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>components</em> : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>]
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a list of this vector's components.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="hashCode%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>hashCode</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a hash code value for the object.  
-    <p>
-    The default hashing algorithm is platform dependent.  
-    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></dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>the hash code value for the object.      </p></dd></dl>
-    <hr></hr>
-<a name="toString%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>toString</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a string representation of the object.  
-    <p>
-    The default representation is platform dependent.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>a string representation of the object.     </p></dd></dl>
-    <hr></hr>
-<a name="equals%28Any%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>equals</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.  
-    
-    <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>
-    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>).</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>arg0 - </code>the object to compare against this object for equality.</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.    </p></dd></dl>
-    <hr></hr>
-<a name="productPrefix"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productPrefix</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productPrefix" target="contentFrame" class="scala/Product">scala.Product.productPrefix</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productArity"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productArity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productArity" target="contentFrame" class="scala/Product">scala.Product.productArity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productElement%28Int%29"></a><dl>
-      <dt>
+      
+      
+    </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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productElement</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productElement" target="contentFrame" class="scala/Product">scala.Product.productElement</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/geometry/package.html b/doc/sims/geometry/package.html
new file mode 100644
index 0000000..7ae3ade
--- /dev/null
+++ b/doc/sims/geometry/package.html
@@ -0,0 +1,105 @@
+<?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$.html">
+      <span class="kind">object</span>
+      <span class="symbol">
+        <span class="name">Vector2D</span><span class="result"> extends AnyRef</span>
+      </span>
+      </a></h4>
+      <p class="comment cmt">Contains special vectors</p>
+    </li></ol>
+            </div>
+        
+        
+        
+      </div>
+      
+    </body>
+      </html>
+\ No newline at end of file
diff --git a/doc/sims/math$content.html b/doc/sims/math$content.html
deleted file mode 100644
index 8d2df26..0000000
--- a/doc/sims/math$content.html
+++ /dev/null
@@ -1,34 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>All classes and objects in sims.math</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../script.js"></script>
-        </head>
-        <body onload="init()"><div class="page-title"><div>Simple Mechanics Simulator (SiMS) API</div></div><p><div>This document is the API specification for SiMS</div></p><table summary="" cellpadding="3" class="member">
-        <tr><td class="title" colspan="2">Class Summary</td></tr>
-        <tr>
-      <td class="modifiers" valign="top"> 
-        <code>case class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/math/Matrix22.html" target="_self">Matrix22</a></em>
-        (<code>val </code><em>c11</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>c12</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>c21</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>c22</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>)<code> extends </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a>
-        
-        <div>A 2x2 matrix.</div>
-      </td>
-    </tr>        
-        </table>
-<table summary="" cellpadding="3" class="member">
-        <tr><td class="title" colspan="2">Object Summary</td></tr>
-        <tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/math/Matrix22$object.html" target="_self">Matrix22</a></em>
-        <code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        
-        
-      </td>
-    </tr>        
-        </table></body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/math$package.html b/doc/sims/math$package.html
deleted file mode 100644
index ac34016..0000000
--- a/doc/sims/math$package.html
+++ /dev/null
@@ -1,16 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>List of classes and objects in package sims.math</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../script.js"></script>
-        </head>
-        <body onload="init()"><table summary="" class="navigation">
-          <tr><td class="navigation-links" valign="top">
-            <a href="../sims/math$content.html" target="contentFrame">sims.math</a>
-          </td></tr>
-        </table><div><div class="kinds" id="Classes">Classes</div><ul class="list">
-        <li id="Classes_M"><a href="../sims/math/Matrix22.html" target="contentFrame">Matrix22</a></li>
-        </ul>
-<div class="kinds" id="Objects">Objects</div><ul class="list">
-        <li id="Objects_M"><a href="../sims/math/Matrix22$object.html" target="contentFrame">Matrix22</a></li>
-        </ul></div></body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/math/Matrix22$.html b/doc/sims/math/Matrix22$.html
new file mode 100644
index 0000000..59a9e6b
--- /dev/null
+++ b/doc/sims/math/Matrix22$.html
@@ -0,0 +1,156 @@
+<?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$object.html b/doc/sims/math/Matrix22$object.html
deleted file mode 100644
index 9411340..0000000
--- a/doc/sims/math/Matrix22$object.html
+++ /dev/null
@@ -1,98 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object Matrix22 in sims.math</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/math$package.html" target="_self">sims.math</a>
-        <br></br>
-        <span class="entity">object  Matrix22</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/math/Matrix22"><code>sims/math/Matrix22.scala</code></a>]
-      </div><hr></hr>
-      <a name="Matrix22"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>Matrix22</em>
-      </dt>
-      <dd><code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a></dd>
-    </dl>
-      
-
-
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/math/Matrix22$object.html#apply%28sims.geometry.Vector2D%2Csims.geometry.Vector2D%29" target="_self">apply</a></em>
-        (<em>c1</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <em>c2</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/math/Matrix22.html" target="_self">Matrix22</a>
-        
-        
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#toString%28%29" target="_self">toString</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      
-
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="apply%28sims.geometry.Vector2D%2Csims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>apply</em>(<em>c1</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <em>c2</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/math/Matrix22.html" target="_self">Matrix22</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/math/Matrix22.html b/doc/sims/math/Matrix22.html
index b07482d..e3fc756 100644
--- a/doc/sims/math/Matrix22.html
+++ b/doc/sims/math/Matrix22.html
@@ -1,445 +1,339 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class Matrix22 in sims.math</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/math$package.html" target="_self">sims.math</a>
-        <br></br>
-        <span class="entity">class  Matrix22</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/math/Matrix22"><code>sims/math/Matrix22.scala</code></a>]
-      </div><hr></hr>
-      <a name="Matrix22"></a><dl>
-      <dt>
-        
-        <code>case</code>
-        <code>class</code>
-        <em>Matrix22</em>(<code>val </code><em>c11</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>c12</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>c21</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>c22</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>)
-      </dt>
-      <dd><code> extends </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a></dd>
-    </dl>
-      <dl><dd>A 2x2 matrix.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>c11 - </code>component 1,1</dd><dd><code>c12 - </code>component 1,2</dd><dd><code>c21 - </code>component 2,1</dd><dd><code>c22 - </code>component 2,2</dd></dl>
+        <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>
     
-      <table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Additional Constructor Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/math/Matrix22.html#this%28sims.geometry.Vector2D%2Csims.geometry.Vector2D%29" target="_self">this</a></em>
-        (<em>c1</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <em>c2</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/math/Matrix22.html" target="_self">Matrix22</a>
-        
-        <div>A 2x2 matrix can be created with two 2D vectors. In this case, each column is represented by a vector.</div>
-      </td>
-    </tr>
-      </table>
-
-
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <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>
-        
-        <div>Multiplikation with a 2D vector.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <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>
-        
-        <div>Matrix multiplication.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/math/Matrix22.html#*%28Double%29" target="_self">*</a></em>
-        (<em>n</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="../../sims/math/Matrix22.html" target="_self">Matrix22</a>
-        
-        <div>Scalar multiplication.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/math/Matrix22.html#%2B%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>Addition.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/math/Matrix22.html#det" target="_self">det</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        <div>Determinant of this matrix.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/math/Matrix22.html#equals%28Any%29" target="_self">equals</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/math/Matrix22.html#hashCode%28%29" target="_self">hashCode</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        <div>Returns a hash code value for the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/math/Matrix22.html#invert" target="_self">invert</a></em>
-         : <a href="../../sims/math/Matrix22.html" target="_self">Matrix22</a>
-        
-        <div>Inverse.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/math/Matrix22.html#productArity" target="_self">productArity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/math/Matrix22.html#productElement%28Int%29" target="_self">productElement</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/math/Matrix22.html#productPrefix" target="_self">productPrefix</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/math/Matrix22.html#toString%28%29" target="_self">toString</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        <div>Returns a string representation of the object.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      <table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Additional Constructor Details</td></tr>
-        </table><div><a name="this%28sims.geometry.Vector2D%2Csims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>this</em>(<em>c1</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>, <em>c2</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/math/Matrix22.html" target="_self">Matrix22</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>A 2x2 matrix can be created with two 2D vectors. In this case, each column is represented by a vector.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>c1 - </code>first column</dd><dd><code>c2 - </code>second column</dd></dl>
-    <hr></hr></div>
+        </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>
 
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="det"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>det</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Determinant of this matrix.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="%2B%28sims.math.Matrix22%29"></a><dl>
-      <dt>
+      <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>
         
-        <code></code>
-        <code>def</code>
-        <em>+</em>(<em>m</em> : <a href="../../sims/math/Matrix22.html" target="_self">Matrix22</a>) : <a href="../../sims/math/Matrix22.html" target="_self">Matrix22</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Addition.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="*%28Double%29"></a><dl>
-      <dt>
         
-        <code></code>
-        <code>def</code>
-        <em>*</em>(<em>n</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="../../sims/math/Matrix22.html" target="_self">Matrix22</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Scalar multiplication.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="*%28sims.math.Matrix22%29"></a><dl>
-      <dt>
         
-        <code></code>
-        <code>def</code>
-        <em>*</em>(<em>m</em> : <a href="../../sims/math/Matrix22.html" target="_self">Matrix22</a>) : <a href="../../sims/math/Matrix22.html" target="_self">Matrix22</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Matrix multiplication.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="*%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
+        <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>
         
-        <code></code>
-        <code>def</code>
-        <em>*</em>(<em>v</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Multiplikation with a 2D vector.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="invert"></a><dl>
-      <dt>
+        <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>
         
-        <code></code>
-        <code>def</code>
-        <em>invert</em> : <a href="../../sims/math/Matrix22.html" target="_self">Matrix22</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Inverse.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="hashCode%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>hashCode</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a hash code value for the object.  
-    <p>
-    The default hashing algorithm is platform dependent.  
-    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></dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>the hash code value for the object.      </p></dd></dl>
-    <hr></hr>
-<a name="toString%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>toString</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a string representation of the object.  
-    <p>
-    The default representation is platform dependent.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>a string representation of the object.     </p></dd></dl>
-    <hr></hr>
-<a name="equals%28Any%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>equals</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.  
-    
-    <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>
-    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>).</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>arg0 - </code>the object to compare against this object for equality.</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.    </p></dd></dl>
-    <hr></hr>
-<a name="productPrefix"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productPrefix</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productPrefix" target="contentFrame" class="scala/Product">scala.Product.productPrefix</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productArity"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productArity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productArity" target="contentFrame" class="scala/Product">scala.Product.productArity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productElement%28Int%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productElement</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productElement" target="contentFrame" class="scala/Product">scala.Product.productElement</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/math/package.html b/doc/sims/math/package.html
new file mode 100644
index 0000000..fd0ba89
--- /dev/null
+++ b/doc/sims/math/package.html
@@ -0,0 +1,73 @@
+<?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</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>
+\ No newline at end of file
diff --git a/doc/sims/package.html b/doc/sims/package.html
new file mode 100644
index 0000000..1502495
--- /dev/null
+++ b/doc/sims/package.html
@@ -0,0 +1,102 @@
+<?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</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>
+\ No newline at end of file
diff --git a/doc/sims/prefabs$content.html b/doc/sims/prefabs$content.html
deleted file mode 100644
index dad597c..0000000
--- a/doc/sims/prefabs$content.html
+++ /dev/null
@@ -1,54 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>All classes and objects in sims.prefabs</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../script.js"></script>
-        </head>
-        <body onload="init()"><div class="page-title"><div>Simple Mechanics Simulator (SiMS) API</div></div><p><div>This document is the API specification for SiMS</div></p><table summary="" cellpadding="3" class="member">
-        <tr><td class="title" colspan="2">Class Summary</td></tr>
-        <tr>
-      <td class="modifiers" valign="top"> 
-        <code> class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/prefabs/Net.html" target="_self">Net</a></em>
-        (<em>width</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>, <em>height</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>, <em>initPos</em> : <a href="../sims/geometry/Vector2D.html" target="_self">Vector2D</a>)<code> extends </code><a href="../sims/prefabs/Prefab.html" target="_self">Prefab</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> trait</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/prefabs/Prefab.html" target="_self">Prefab</a></em>
-        <code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/prefabs/Pylon.html" target="_self">Pylon</a></em>
-        <code> extends </code><a href="../sims/prefabs/Prefab.html" target="_self">Prefab</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/prefabs/Ragdoll.html" target="_self">Ragdoll</a></em>
-        (<em>position</em> : <a href="../sims/geometry/Vector2D.html" target="_self">Vector2D</a>)<code> extends </code><a href="../sims/prefabs/Prefab.html" target="_self">Prefab</a>
-        
-        
-      </td>
-    </tr>        
-        </table>
-</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 490a2cf..0000000
--- a/doc/sims/prefabs$package.html
+++ /dev/null
@@ -1,17 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>List of classes and objects in package sims.prefabs</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../script.js"></script>
-        </head>
-        <body onload="init()"><table summary="" class="navigation">
-          <tr><td class="navigation-links" valign="top">
-            <a href="../sims/prefabs$content.html" target="contentFrame">sims.prefabs</a>
-          </td></tr>
-        </table><div><div class="kinds" id="Classes">Classes</div><ul class="list">
-        <li id="Classes_N"><a href="../sims/prefabs/Net.html" target="contentFrame">Net</a></li>
-<li id="Classes_P"><a href="../sims/prefabs/Prefab.html" target="contentFrame">Prefab</a></li>
-<li><a href="../sims/prefabs/Pylon.html" target="contentFrame">Pylon</a></li>
-<li id="Classes_R"><a href="../sims/prefabs/Ragdoll.html" target="contentFrame">Ragdoll</a></li>
-        </ul>
-</div></body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/prefabs/Net.html b/doc/sims/prefabs/Net.html
index 0298260..584df7a 100644
--- a/doc/sims/prefabs/Net.html
+++ b/doc/sims/prefabs/Net.html
@@ -1,232 +1,223 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class Net in sims.prefabs</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
+        <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 onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/prefabs$package.html" target="_self">sims.prefabs</a>
-        <br></br>
-        <span class="entity">class  Net</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/prefabs/Net"><code>sims/prefabs/Net.scala</code></a>]
-      </div><hr></hr>
-      <a name="Net"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>class</code>
-        <em>Net</em>(<em>width</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>, <em>height</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>, <em>initPos</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>)
-      </dt>
-      <dd><code> extends </code><a href="../../sims/prefabs/Prefab.html" target="_self">Prefab</a></dd>
-    </dl>
+        <body class="type">
       
+      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">prefabs</a></p>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code>override val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Net.html#bodies" target="_self">bodies</a></em>
-         : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="../../sims/dynamics/Body.html" target="_self">Body</a>]
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Net.html#joints" target="_self">joints</a></em>
-         : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="../../sims/dynamics/joints/DistanceJoint.html" target="_self">DistanceJoint</a>]
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Net.html#nodeDensity" target="_self">nodeDensity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Net.html#nodeDistance" target="_self">nodeDistance</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Net.html#nodeRadius" target="_self">nodeRadius</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Net.html#springConstant" target="_self">springConstant</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Net.html#springDamping" target="_self">springDamping</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        
-      </td>
-    </tr>
-      </table>
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#toString%28%29" target="_self">toString</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
+      <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">
       
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="nodeDistance"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>nodeDistance</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="nodeRadius"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>nodeRadius</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="nodeDensity"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>nodeDensity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="springConstant"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>springConstant</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="springDamping"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>springDamping</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="bodies"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>val</code>
-        <em>bodies</em> : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="../../sims/dynamics/Body.html" target="_self">Body</a>]
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/prefabs/Prefab.html" target="_self">Prefab</a>.<a href="../../sims/prefabs/Prefab.html#bodies" target="_self">bodies</a>
-        </dd>
-      </dl><hr></hr>
-<a name="joints"></a><dl>
-      <dt>
+      
+      
+      
+      
+    </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>
         
-        <code>override</code>
-        <code>val</code>
-        <em>joints</em> : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="../../sims/dynamics/joints/DistanceJoint.html" target="_self">DistanceJoint</a>]
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/prefabs/Prefab.html" target="_self">Prefab</a>.<a href="../../sims/prefabs/Prefab.html#joints" target="_self">joints</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/prefabs/Prefab.html b/doc/sims/prefabs/Prefab.html
index 699ecf9..b2b8a23 100644
--- a/doc/sims/prefabs/Prefab.html
+++ b/doc/sims/prefabs/Prefab.html
@@ -1,121 +1,166 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>trait Prefab in sims.prefabs</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
+        <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 onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/prefabs$package.html" target="_self">sims.prefabs</a>
-        <br></br>
-        <span class="entity">trait  Prefab</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/prefabs/Prefab"><code>sims/prefabs/Prefab.scala</code></a>]
-      </div><hr></hr>
-      <a name="Prefab"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>trait</code>
-        <em>Prefab</em>
-      </dt>
-      <dd><code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a></dd>
-    </dl><dl>
-      <dt style="margin:10px 0 0 20px;"><b>Direct Known Subclasses:</b></dt>
-      <dd><a href="../../graphyx/tests/Carriage$object.Car.html" target="_self">Carriage.Car</a>, <a href="../../sims/prefabs/Net.html" target="_self">Net</a>, <a href="../../sims/prefabs/Pylon.html" target="_self">Pylon</a>, <a href="../../sims/prefabs/Ragdoll.html" target="_self">Ragdoll</a></dd>
-      </dl><hr></hr>
+        <body class="type">
       
+      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">prefabs</a></p>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Prefab.html#bodies" target="_self">bodies</a></em>
-         : <a href="" target="contentFrame" class="scala/Iterable">scala.Iterable</a>[<a href="../../sims/dynamics/Body.html" target="_self">Body</a>]
-        
+      <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>
         
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Prefab.html#joints" target="_self">joints</a></em>
-         : <a href="" target="contentFrame" class="scala/Iterable">scala.Iterable</a>[<a href="../../sims/dynamics/joints/Joint.html" target="_self">Joint</a>]
         
         
-      </td>
-    </tr>
-      </table>
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#toString%28%29" target="_self">toString</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
+        <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>
       
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="bodies"></a><dl>
-      <dt>
+    </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>
         
-        <code></code>
-        <code>val</code>
-        <em>bodies</em> : <a href="" target="contentFrame" class="scala/Iterable">scala.Iterable</a>[<a href="../../sims/dynamics/Body.html" target="_self">Body</a>]
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="joints"></a><dl>
-      <dt>
         
-        <code></code>
-        <code>val</code>
-        <em>joints</em> : <a href="" target="contentFrame" class="scala/Iterable">scala.Iterable</a>[<a href="../../sims/dynamics/joints/Joint.html" target="_self">Joint</a>]
-      </dt>
-      <dd></dd>
-    </dl><hr></hr></div>
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+        
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/prefabs/Pylon.html b/doc/sims/prefabs/Pylon.html
index cec9b30..1715c04 100644
--- a/doc/sims/prefabs/Pylon.html
+++ b/doc/sims/prefabs/Pylon.html
@@ -1,272 +1,231 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class Pylon in sims.prefabs</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
+        <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 onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/prefabs$package.html" target="_self">sims.prefabs</a>
-        <br></br>
-        <span class="entity">class  Pylon</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/prefabs/Pylon"><code>sims/prefabs/Pylon.scala</code></a>]
-      </div><hr></hr>
-      <a name="Pylon"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>class</code>
-        <em>Pylon</em>
-      </dt>
-      <dd><code> extends </code><a href="../../sims/prefabs/Prefab.html" target="_self">Prefab</a></dd>
-    </dl>
+        <body class="type">
       
+      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">prefabs</a></p>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Pylon.html#beamHeight" target="_self">beamHeight</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Pylon.html#beamNumber" target="_self">beamNumber</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Pylon.html#beamWidth" target="_self">beamWidth</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> lazy val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Pylon.html#beams" target="_self">beams</a></em>
-         : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="../../sims/dynamics/joints/DistanceJoint.html" target="_self">DistanceJoint</a>]
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Pylon.html#bodies" target="_self">bodies</a></em>
-         : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="../../sims/dynamics/Body.html" target="_self">Body</a>]
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Pylon.html#joints" target="_self">joints</a></em>
-         : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="../../sims/dynamics/joints/DistanceJoint.html" target="_self">DistanceJoint</a>]
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Pylon.html#nodeDensity" target="_self">nodeDensity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> lazy val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Pylon.html#nodes" target="_self">nodes</a></em>
-         : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="../../sims/dynamics/Body.html" target="_self">Body</a>]
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Pylon.html#position" target="_self">position</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        
-      </td>
-    </tr>
-      </table>
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#toString%28%29" target="_self">toString</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
+      <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">
       
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="position"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>position</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="nodeDensity"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>nodeDensity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="beamHeight"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>beamHeight</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="beamWidth"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>beamWidth</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="beamNumber"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>beamNumber</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="nodes"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>lazy val</code>
-        <em>nodes</em> : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="../../sims/dynamics/Body.html" target="_self">Body</a>]
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="beams"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>lazy val</code>
-        <em>beams</em> : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="../../sims/dynamics/joints/DistanceJoint.html" target="_self">DistanceJoint</a>]
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="bodies"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>val</code>
-        <em>bodies</em> : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="../../sims/dynamics/Body.html" target="_self">Body</a>]
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/prefabs/Prefab.html" target="_self">Prefab</a>.<a href="../../sims/prefabs/Prefab.html#bodies" target="_self">bodies</a>
-        </dd>
-      </dl><hr></hr>
-<a name="joints"></a><dl>
-      <dt>
+      
+      
+      
+      
+    </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>
         
-        <code>override</code>
-        <code>val</code>
-        <em>joints</em> : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="../../sims/dynamics/joints/DistanceJoint.html" target="_self">DistanceJoint</a>]
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/prefabs/Prefab.html" target="_self">Prefab</a>.<a href="../../sims/prefabs/Prefab.html#joints" target="_self">joints</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/prefabs/Ragdoll.html b/doc/sims/prefabs/Ragdoll.html
index 0ae14d2..fe09221 100644
--- a/doc/sims/prefabs/Ragdoll.html
+++ b/doc/sims/prefabs/Ragdoll.html
@@ -1,432 +1,303 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class Ragdoll in sims.prefabs</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
+        <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 onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/prefabs$package.html" target="_self">sims.prefabs</a>
-        <br></br>
-        <span class="entity">class  Ragdoll</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/prefabs/Ragdoll"><code>sims/prefabs/Ragdoll.scala</code></a>]
-      </div><hr></hr>
-      <a name="Ragdoll"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>class</code>
-        <em>Ragdoll</em>(<em>position</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>)
-      </dt>
-      <dd><code> extends </code><a href="../../sims/prefabs/Prefab.html" target="_self">Prefab</a></dd>
-    </dl>
+        <body class="type">
       
+      <p id="owner"><a href="../package.html">sims</a>.<a href="package.html">prefabs</a></p>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Value Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code>override val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Ragdoll.html#bodies" target="_self">bodies</a></em>
-         : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="../../sims/dynamics/Body.html" target="_self">Body</a>]
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Ragdoll.html#foot1" target="_self">foot1</a></em>
-         : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Ragdoll.html#foot2" target="_self">foot2</a></em>
-         : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Ragdoll.html#forearm1" target="_self">forearm1</a></em>
-         : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Ragdoll.html#forearm2" target="_self">forearm2</a></em>
-         : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Ragdoll.html#hand1" target="_self">hand1</a></em>
-         : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Ragdoll.html#hand2" target="_self">hand2</a></em>
-         : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Ragdoll.html#headTorso" target="_self">headTorso</a></em>
-         : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Ragdoll.html#joints" target="_self">joints</a></em>
-         : <a href="#Nil" target="contentFrame" class="scala">scala.Nil</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Ragdoll.html#shoulder1" target="_self">shoulder1</a></em>
-         : <a href="../../sims/dynamics/joints/RevoluteJoint.html" target="_self">RevoluteJoint</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Ragdoll.html#shoulder2" target="_self">shoulder2</a></em>
-         : <a href="../../sims/dynamics/joints/RevoluteJoint.html" target="_self">RevoluteJoint</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Ragdoll.html#thigh1" target="_self">thigh1</a></em>
-         : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Ragdoll.html#thigh2" target="_self">thigh2</a></em>
-         : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Ragdoll.html#tibia1" target="_self">tibia1</a></em>
-         : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Ragdoll.html#tibia2" target="_self">tibia2</a></em>
-         : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Ragdoll.html#upperArm1" target="_self">upperArm1</a></em>
-         : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> val</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/prefabs/Ragdoll.html#upperArm2" target="_self">upperArm2</a></em>
-         : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-        
-        
-      </td>
-    </tr>
-      </table>
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#toString%28%29" target="_self">toString</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
+      <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">
       
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Value Details</td></tr>
-        </table><div><a name="headTorso"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>headTorso</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="thigh1"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>thigh1</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="thigh2"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>thigh2</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="tibia1"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>tibia1</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="tibia2"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>tibia2</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="foot1"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>foot1</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="foot2"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>foot2</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="upperArm1"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>upperArm1</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="upperArm2"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>upperArm2</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="forearm1"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>forearm1</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="forearm2"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>forearm2</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="hand1"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>hand1</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="hand2"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>hand2</em> : <a href="../../sims/dynamics/Body.html" target="_self">Body</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="bodies"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>val</code>
-        <em>bodies</em> : <a href="" target="contentFrame" class="scala/List">scala.List</a>[<a href="../../sims/dynamics/Body.html" target="_self">Body</a>]
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/prefabs/Prefab.html" target="_self">Prefab</a>.<a href="../../sims/prefabs/Prefab.html#bodies" target="_self">bodies</a>
-        </dd>
-      </dl><hr></hr>
-<a name="shoulder1"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>shoulder1</em> : <a href="../../sims/dynamics/joints/RevoluteJoint.html" target="_self">RevoluteJoint</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="shoulder2"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>val</code>
-        <em>shoulder2</em> : <a href="../../sims/dynamics/joints/RevoluteJoint.html" target="_self">RevoluteJoint</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="joints"></a><dl>
-      <dt>
+      
+      
+      
+      
+    </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>
         
-        <code>override</code>
-        <code>val</code>
-        <em>joints</em> : <a href="#Nil" target="contentFrame" class="scala">scala.Nil</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="../../sims/prefabs/Prefab.html" target="_self">Prefab</a>.<a href="../../sims/prefabs/Prefab.html#joints" target="_self">joints</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/prefabs/package.html b/doc/sims/prefabs/package.html
new file mode 100644
index 0000000..78b76e7
--- /dev/null
+++ b/doc/sims/prefabs/package.html
@@ -0,0 +1,86 @@
+<?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$content.html b/doc/sims/util$content.html
deleted file mode 100644
index 8db8c6c..0000000
--- a/doc/sims/util$content.html
+++ /dev/null
@@ -1,56 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>All classes and objects in sims.util</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../script.js"></script>
-        </head>
-        <body onload="init()"><div class="page-title"><div>Simple Mechanics Simulator (SiMS) API</div></div><p><div>This document is the API specification for SiMS</div></p><table summary="" cellpadding="3" class="member">
-        <tr><td class="title" colspan="2">Class Summary</td></tr>
-        <tr>
-      <td class="modifiers" valign="top"> 
-        <code>case class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/util/Polar.html" target="_self">Polar</a></em>
-        (<code>val </code><em>distance</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>angle</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>)<code> extends </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a>
-        
-        <div>Polar coordinates.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> class</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/util/RelativeVector.html" target="_self">RelativeVector</a></em>
-        (<code>val </code><em>x</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>y</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>)<code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        
-        
-      </td>
-    </tr>        
-        </table>
-<table summary="" cellpadding="3" class="member">
-        <tr><td class="title" colspan="2">Object Summary</td></tr>
-        <tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/util/Polar$object.html" target="_self">Polar</a></em>
-        <code> extends </code>(<a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) =&gt; <a href="../sims/util/Polar.html" target="_self">Polar</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> object</code>
-      </td>
-      <td class="signature">
-        <em><a href="../sims/util/Positioning$object.html" target="_self">Positioning</a></em>
-        <code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        
-        <div>Utility functions for comfortable positioning of bodies.</div>
-      </td>
-    </tr>        
-        </table></body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/util$package.html b/doc/sims/util$package.html
deleted file mode 100644
index 61c5bdc..0000000
--- a/doc/sims/util$package.html
+++ /dev/null
@@ -1,18 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>List of classes and objects in package sims.util</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../script.js"></script>
-        </head>
-        <body onload="init()"><table summary="" class="navigation">
-          <tr><td class="navigation-links" valign="top">
-            <a href="../sims/util$content.html" target="contentFrame">sims.util</a>
-          </td></tr>
-        </table><div><div class="kinds" id="Classes">Classes</div><ul class="list">
-        <li id="Classes_P"><a href="../sims/util/Polar.html" target="contentFrame">Polar</a></li>
-<li id="Classes_R"><a href="../sims/util/RelativeVector.html" target="contentFrame">RelativeVector</a></li>
-        </ul>
-<div class="kinds" id="Objects">Objects</div><ul class="list">
-        <li id="Objects_P"><a href="../sims/util/Polar$object.html" target="contentFrame">Polar</a></li>
-<li><a href="../sims/util/Positioning$object.html" target="contentFrame">Positioning</a></li>
-        </ul></div></body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/util/Polar$object.html b/doc/sims/util/Polar$object.html
deleted file mode 100644
index c1ae2b3..0000000
--- a/doc/sims/util/Polar$object.html
+++ /dev/null
@@ -1,82 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object Polar in sims.util</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/util$package.html" target="_self">sims.util</a>
-        <br></br>
-        <span class="entity">object  Polar</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/util/Polar"><code>sims/util/Polar.scala</code></a>]
-      </div><hr></hr>
-      <a name="Polar"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>Polar</em>
-      </dt>
-      <dd><code> extends </code>(<a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) =&gt; <a href="../../sims/util/Polar.html" target="_self">Polar</a></dd>
-    </dl>
-      
-
-
-<table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="" target="contentFrame" class="scala/Function2">scala.Function2</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="#toString" target="contentFrame" class="scala/Function2">scala.Function2.toString</a>, <a href="#curry" target="contentFrame" class="scala/Function2">scala.Function2.curry</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      
-
-
-
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/util/Polar.html b/doc/sims/util/Polar.html
index 78fa78d..d2ad5fd 100644
--- a/doc/sims/util/Polar.html
+++ b/doc/sims/util/Polar.html
@@ -1,302 +1,239 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class Polar in sims.util</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/util$package.html" target="_self">sims.util</a>
-        <br></br>
-        <span class="entity">class  Polar</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/util/Polar"><code>sims/util/Polar.scala</code></a>]
-      </div><hr></hr>
-      <a name="Polar"></a><dl>
-      <dt>
-        
-        <code>case</code>
-        <code>class</code>
-        <em>Polar</em>(<code>val </code><em>distance</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>angle</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>)
-      </dt>
-      <dd><code> extends </code><a href="" target="contentFrame" class="scala/Product">scala.Product</a></dd>
-    </dl>
-      <dl><dd>Polar coordinates.</dd></dl>
-      <dl></dl>
+        <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>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/util/Polar.html#equals%28Any%29" target="_self">equals</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-        
-        <div>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/util/Polar.html#hashCode%28%29" target="_self">hashCode</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        <div>Returns a hash code value for the object.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/util/Polar.html#productArity" target="_self">productArity</a></em>
-         : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/util/Polar.html#productElement%28Int%29" target="_self">productElement</a></em>
-        (<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/util/Polar.html#productPrefix" target="_self">productPrefix</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/util/Polar.html#toCarthesian" target="_self">toCarthesian</a></em>
-         : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        <div>Returns the vector representation of these polar coordinates.</div>
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>override def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/util/Polar.html#toString%28%29" target="_self">toString</a></em>
-         : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-        
-        <div>Returns a string representation of the object.</div>
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
+      <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>
       
-
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="toCarthesian"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>toCarthesian</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns the vector representation of these polar coordinates.</dd></dl>
-      <dl></dl>
-    <hr></hr>
-<a name="hashCode%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>hashCode</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a hash code value for the object.  
-    <p>
-    The default hashing algorithm is platform dependent.  
-    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></dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>the hash code value for the object.      </p></dd></dl>
-    <hr></hr>
-<a name="toString%28%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>toString</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>Returns a string representation of the object.  
-    <p>
-    The default representation is platform dependent.</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd>a string representation of the object.     </p></dd></dl>
-    <hr></hr>
-<a name="equals%28Any%29"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>equals</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Boolean.html" target="_self">Boolean</a>
-      </dt>
-      <dd></dd>
-    </dl>
-      <dl><dd>This method is used to compare the receiver object (<code>this</code>)
-    with the argument object (<code>arg0</code>) for equivalence.  
-    
-    <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>
-    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>).</dd></dl>
-      <dl><dt style="margin:10px 0 0 20px;">
-        <b>Parameters</b></dt><dd><code>arg0 - </code>the object to compare against this object for equality.</dd><dt style="margin:10px 0 0 20px;">
-        <b>Returns</b></dt><dd><code>true</code> if the receiver object is equivalent to the argument; <code>false</code> otherwise.    </p></dd></dl>
-    <hr></hr>
-<a name="productPrefix"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productPrefix</em> : <a href="" target="contentFrame" class="java/lang/String">java.lang.String</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productPrefix" target="contentFrame" class="scala/Product">scala.Product.productPrefix</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productArity"></a><dl>
-      <dt>
-        
-        <code>override</code>
-        <code>def</code>
-        <em>productArity</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productArity" target="contentFrame" class="scala/Product">scala.Product.productArity</a>
-        </dd>
-      </dl><hr></hr>
-<a name="productElement%28Int%29"></a><dl>
-      <dt>
+      
+      
+      
+    </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>
         
-        <code>override</code>
-        <code>def</code>
-        <em>productElement</em>(<em>arg0</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-      </dt>
-      <dd></dd>
-    </dl><dl>
-        <dt style="margin:10px 0 0 20px;">
-          <b>Overrides</b>
-        </dt>
-        <dd>
-        <a href="" target="contentFrame" class="scala/Product">scala.Product</a>.<a href="#productElement" target="contentFrame" class="scala/Product">scala.Product.productElement</a>
-        </dd>
-      </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/util/Positioning$.html b/doc/sims/util/Positioning$.html
new file mode 100644
index 0000000..f04ce7c
--- /dev/null
+++ b/doc/sims/util/Positioning$.html
@@ -0,0 +1,196 @@
+<?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/Positioning$object.html b/doc/sims/util/Positioning$object.html
deleted file mode 100644
index 3a9b6c0..0000000
--- a/doc/sims/util/Positioning$object.html
+++ /dev/null
@@ -1,201 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
-<html>
-        <head><title>object Positioning in sims.util</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
-        </head>
-        <body onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/util$package.html" target="_self">sims.util</a>
-        <br></br>
-        <span class="entity">object  Positioning</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/util/Positioning"><code>sims/util/Positioning.scala</code></a>]
-      </div><hr></hr>
-      <a name="Positioning"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>object</code>
-        <em>Positioning</em>
-      </dt>
-      <dd><code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a></dd>
-    </dl>
-      <dl><dd>Utility functions for comfortable positioning of bodies.</dd></dl>
-      <dl></dl>
-    
-      
-
-
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code>implicit def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/util/Positioning$object.html#double2RelativeVector%28Double%29" target="_self">double2RelativeVector</a></em>
-        (<em>x</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="../../sims/util/RelativeVector.html" target="_self">RelativeVector</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>implicit def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/util/Positioning$object.html#int2RelativeVector%28Int%29" target="_self">int2RelativeVector</a></em>
-        (<em>x</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="../../sims/util/RelativeVector.html" target="_self">RelativeVector</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>implicit def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/util/Positioning$object.html#polar2Carthesian%28sims.util.Polar%29" target="_self">polar2Carthesian</a></em>
-        (<em>p</em> : <a href="../../sims/util/Polar.html" target="_self">Polar</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>implicit def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/util/Positioning$object.html#polar2RelativeVector%28sims.util.Polar%29" target="_self">polar2RelativeVector</a></em>
-        (<em>p</em> : <a href="../../sims/util/Polar.html" target="_self">Polar</a>) : <a href="../../sims/util/RelativeVector.html" target="_self">RelativeVector</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/util/Positioning$object.html#position%28sims.dynamics.Shape%29" target="_self">position</a></em>
-        (<em>s</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>)(<em>a</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code>implicit def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/util/Positioning$object.html#vector2RelativeVector%28sims.geometry.Vector2D%29" target="_self">vector2RelativeVector</a></em>
-        (<em>v</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/util/RelativeVector.html" target="_self">RelativeVector</a>
-        
-        
-      </td>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#toString%28%29" target="_self">toString</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
-      
-
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="int2RelativeVector%28Int%29"></a><dl>
-      <dt>
-        
-        <code>implicit</code>
-        <code>def</code>
-        <em>int2RelativeVector</em>(<em>x</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Int.html" target="_self">Int</a>) : <a href="../../sims/util/RelativeVector.html" target="_self">RelativeVector</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="double2RelativeVector%28Double%29"></a><dl>
-      <dt>
-        
-        <code>implicit</code>
-        <code>def</code>
-        <em>double2RelativeVector</em>(<em>x</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>) : <a href="../../sims/util/RelativeVector.html" target="_self">RelativeVector</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="vector2RelativeVector%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code>implicit</code>
-        <code>def</code>
-        <em>vector2RelativeVector</em>(<em>v</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/util/RelativeVector.html" target="_self">RelativeVector</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="polar2Carthesian%28sims.util.Polar%29"></a><dl>
-      <dt>
-        
-        <code>implicit</code>
-        <code>def</code>
-        <em>polar2Carthesian</em>(<em>p</em> : <a href="../../sims/util/Polar.html" target="_self">Polar</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="polar2RelativeVector%28sims.util.Polar%29"></a><dl>
-      <dt>
-        
-        <code>implicit</code>
-        <code>def</code>
-        <em>polar2RelativeVector</em>(<em>p</em> : <a href="../../sims/util/Polar.html" target="_self">Polar</a>) : <a href="../../sims/util/RelativeVector.html" target="_self">RelativeVector</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="position%28sims.dynamics.Shape%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>position</em>(<em>s</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>)(<em>a</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="http://www.scala-lang.org/docu/files/api/scala/Unit.html" target="_self">Unit</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
-      </html>
-\ No newline at end of file
diff --git a/doc/sims/util/RelativeVector.html b/doc/sims/util/RelativeVector.html
index b2512f4..99da021 100644
--- a/doc/sims/util/RelativeVector.html
+++ b/doc/sims/util/RelativeVector.html
@@ -1,278 +1,263 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<?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>class RelativeVector in sims.util</title>
-        <meta http-equiv="content-type" content="text/html; charset=UTF8"></meta><meta content="scaladoc (version 2.7.5.final)" name="generator"></meta><link href="../../style.css" type="text/css" rel="stylesheet"></link><script type="text/javascript" src="../../script.js"></script>
+        <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 onload="init()">
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-        
-      <div class="entity">
-        <a href="../../sims/util$package.html" target="_self">sims.util</a>
-        <br></br>
-        <span class="entity">class  RelativeVector</span>
-      </div><hr></hr>
-      <div class="source">
-        [source: <a href="" class="sims/util/RelativeVector"><code>sims/util/RelativeVector.scala</code></a>]
-      </div><hr></hr>
-      <a name="RelativeVector"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>class</code>
-        <em>RelativeVector</em>(<code>val </code><em>x</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>, <code>val </code><em>y</em> : <a href="http://www.scala-lang.org/docu/files/api/scala/Double.html" target="_self">Double</a>)
-      </dt>
-      <dd><code> extends </code><a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a></dd>
-    </dl>
+        <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>
 
-<table summary="" cellpadding="3" class="member">
-      <tr><td class="title" colspan="2">Method Summary</td></tr>
-      <tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/util/RelativeVector.html#above%28sims.dynamics.Shape%29" target="_self">above</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>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/util/RelativeVector.html#above%28sims.geometry.Vector2D%29" target="_self">above</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>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/util/RelativeVector.html#below%28sims.geometry.Vector2D%29" target="_self">below</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>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/util/RelativeVector.html#below%28sims.dynamics.Shape%29" target="_self">below</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>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <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>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <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>
-        
-        
-      </td>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/util/RelativeVector.html#left%28sims.geometry.Vector2D%29" target="_self">left</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>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/util/RelativeVector.html#left%28sims.dynamics.Shape%29" target="_self">left</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>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/util/RelativeVector.html#right%28sims.geometry.Vector2D%29" target="_self">right</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>
-    </tr>
-<tr>
-      <td class="modifiers" valign="top"> 
-        <code> def</code>
-      </td>
-      <td class="signature">
-        <em><a href="../../sims/util/RelativeVector.html#right%28sims.dynamics.Shape%29" target="_self">right</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>
-    </tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html" target="_self">AnyRef</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#getClass%28%29" target="_self">getClass</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#hashCode%28%29" target="_self">hashCode</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#equals%28Any%29" target="_self">equals</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#clone%28%29" target="_self">clone</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#toString%28%29" target="_self">toString</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notify%28%29" target="_self">notify</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#notifyAll%28%29" target="_self">notifyAll</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28Long%2CInt%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#wait%28%29" target="_self">wait</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#finalize%28%29" target="_self">finalize</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%3D%3D%28AnyRef%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#%21%3D%28AnyRef%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#eq%28AnyRef%29" target="_self">eq</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#ne%28AnyRef%29" target="_self">ne</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/AnyRef.html#synchronized%28T0%29" target="_self">synchronized</a>
-        </td></tr>
-      </table><table summary="" cellpadding="3" class="inherited">
-        <tr><td class="title" colspan="2">
-          Methods inherited from <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html" target="_self">Any</a>
-        </td></tr>
-        <tr><td class="signature" colspan="2">
-          <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%3D%3D%28Any%29" target="_self">==</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#%21%3D%28Any%29" target="_self">!=</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#isInstanceOf" target="_self">isInstanceOf</a>, <a href="http://www.scala-lang.org/docu/files/api/scala/Any.html#asInstanceOf" target="_self">asInstanceOf</a>
-        </td></tr>
-      </table>
-
-
+      <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">
       
-
-
-<table summary="" cellpadding="3" class="member-detail">
-          <tr><td class="title">Method Details</td></tr>
-        </table><div><a name="above%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>above</em>(<em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="below%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>below</em>(<em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="left%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>left</em>(<em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="right%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>right</em>(<em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="from%28sims.geometry.Vector2D%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>from</em>(<em>point</em> : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="above%28sims.dynamics.Shape%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>above</em>(<em>s</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="below%28sims.dynamics.Shape%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>below</em>(<em>s</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="left%28sims.dynamics.Shape%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>left</em>(<em>s</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="right%28sims.dynamics.Shape%29"></a><dl>
-      <dt>
-        
-        <code></code>
-        <code>def</code>
-        <em>right</em>(<em>s</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr>
-<a name="from%28sims.dynamics.Shape%29"></a><dl>
-      <dt>
+      
+      
+      
+      
+    </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>
         
-        <code></code>
-        <code>def</code>
-        <em>from</em>(<em>s</em> : <a href="../../sims/dynamics/Shape.html" target="_self">Shape</a>) : <a href="../../sims/geometry/Vector2D.html" target="_self">Vector2D</a>
-      </dt>
-      <dd></dd>
-    </dl><hr></hr></div>
-
-
-    <hr></hr>
-        <table summary="" class="navigation">
-        <tr>
-          <td class="navigation-links" valign="top">
-            <!-- <table><tr></tr></table> -->
-          </td>
-          <td align="right" valign="top" style="white-space:nowrap;" rowspan="2">
-            <div class="doctitle-larger">SiMS</div>
-          </td>
-        </tr>
-        <tr><td></td></tr>
-      </table>
-      </body>
+      </div>
+      
+    </body>
       </html>
 \ No newline at end of file
diff --git a/doc/sims/util/package.html b/doc/sims/util/package.html
new file mode 100644
index 0000000..0605149
--- /dev/null
+++ b/doc/sims/util/package.html
@@ -0,0 +1,81 @@
+<?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
author	Jakob Odersky <jodersky@gmail.com>	2009-12-13 16:06:50 +0000
committer	Jakob Odersky <jodersky@gmail.com>	2009-12-13 16:06:50 +0000
commit	66d338aec5d632927fa561a68310c8931938e9e0 (patch)
tree	1e200fd94bb903772b007690da4e5d13fc46fb5b /doc/sims
parent	be2ee4dea92c5a4fc2329959d6e7272c50b221a6 (diff)
download	sims-66d338aec5d632927fa561a68310c8931938e9e0.tar.gz sims-66d338aec5d632927fa561a68310c8931938e9e0.tar.bz2 sims-66d338aec5d632927fa561a68310c8931938e9e0.zip