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/*
* Simple Mechanics Simulator (SiMS)
* copyright (c) 2009 Jakob Odersky
* made available under the MIT License
*/
package sims.dynamics
import sims.geometry._
import sims.collision._
/**
* An abstract shape.
*/
abstract class Shape{
/**Unique identification number.*/
val uid: Int = Shape.nextUid
/**Flag determining this shapes ability to collide with other shapes.*/
var collidable: Boolean = true
/**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.*/
var restitution: Double = 0.7
/**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.*/
var friction: Double = 0.707
/**Position of this shape's COM (in world coordinates).*/
var pos: Vector2D = Vector2D.Null
/**Rotation of this shape about its COM.*/
var rotation: Double = 0
/**Initial rotation. Rotation of this shape before it was added to a body.*/
var rotation0 = 0.0
/**Local position of this shape's body COM to its COM at a body rotation of zero.*/
var refLocalPos: Vector2D = Vector2D.Null
/**Density. (Mass per area)*/
val density: Double
/**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.*/
val volume: Double
/**Returns the mass of this shape. The mass is given by volume times density.
@return mass of this shape*/
def mass = volume * density
/**Moment of inertia for a rotation about this shape's COM.*/
val I: Double
/**Containing body.*/
private var _body: Body = _
/**Returns this shape's containing body.*/
def body = _body
/**Sets this shape's containing body.*/
private[dynamics] def body_=(b: Body) = _body = b
/**Returns this shape's axis aligned bounding box.*/
def AABB: AABB
/**Returns the projection of this shape onto the line given by the directional vector <code>axis</code>.
* @param axis directional vector of the line
* @return projection of this shape*/
def project(axis: Vector2D): Projection
/**Checks if the point <code>point</code> is contained in this shape.*/
def contains(point: Vector2D): Boolean
/**Creates a new body made out of tis shape.
@return a body made out of tis shape*/
def asBody = new Body(this)
/**Shapes with which this shape cannot collide.*/
val transientShapes: collection.mutable.Set[Shape] = collection.mutable.Set()
/**Creates a new body out of this shape and the shape <code>s</code>.*/
def ~(s: Shape) = new Body(this, s)
/**Creates a new body out of this shape and the shapes of body <code>b</code>.*/
def ~(b: Body) = {
val shapes = this :: b.shapes
new Body(shapes: _*)
}
}
object Shape {
private var uidCounter = -1
private def nextUid = {uidCounter += 1; uidCounter}
}
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