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|
<?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.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;
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</head>
<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/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>
</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>
</div>
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