import from local directory

18 files changed, 876 insertions, 0 deletions

diff --git a/src/test/scala/sims/test/gui/DebugWorld.scala b/src/test/scala/sims/test/gui/DebugWorld.scala
new file mode 100644
index 0000000..937bd77
--- /dev/null
+++ b/src/test/scala/sims/test/gui/DebugWorld.scala
@@ -0,0 +1,29 @@
+package sims.test.gui
+
+class DebugWorld extends sims.dynamics.World with Publisher {
+	
+	override def +=(b: sims.dynamics.Body) = {
+		super.+=(b)
+		publish(BodyAdded(this, b))
+	}
+	
+	override def -=(b: sims.dynamics.Body) = {
+		super.-=(b)
+		publish(BodyRemoved(this, b))
+	}
+	
+	override def +=(j: sims.dynamics.Joint) = {
+		super.+=(j)
+		publish(JointAdded(this, j))
+	}
+	
+	override def -=(j: sims.dynamics.Joint) = {
+		super.-=(j)
+		publish(JointRemoved(this, j))
+	}
+	
+	override def step() = {
+		super.step()
+		publish(Stepped(this))
+	}
+}
\ No newline at end of file
diff --git a/src/test/scala/sims/test/gui/KeyManager.scala b/src/test/scala/sims/test/gui/KeyManager.scala
new file mode 100644
index 0000000..f7cc199
--- /dev/null
+++ b/src/test/scala/sims/test/gui/KeyManager.scala
@@ -0,0 +1,53 @@
+package sims.test.gui
+
+import processing.core.PApplet
+
+class KeyManager(implicit top: Main) {
+
+	def keyPressed(keyCode: Int) = keyCode match {
+		// ENTER
+		case 10 => top.SceneManager.currentScene.world.step()
+		
+		// SPACE
+		case 32 => top.paused = !top.paused
+		
+		// PAGE UP
+		case 33 => top.viewScale += top.viewScale * 0.02f
+		
+		// PAGE DOWN
+		case 34 => top.viewScale -= top.viewScale * 0.02f
+		
+		// 0
+		case 36 => {top.offsetX = 0; top.offsetY = 0}
+		
+		// LEFT
+		case 37 => top.offsetX += 50
+		
+		// UP
+		case 38 => top.offsetY -= 50
+		
+		// RIGHT
+		case 39 => top.offsetX -= 50
+		
+		// DOWN
+		case 40 => top.offsetY += 50
+		
+		// , (<)
+		case 44 => top.SceneManager.previousScene()
+		
+		// . (>)
+		case 46 => top.SceneManager.nextScene()
+		
+		// b
+		case 66 => top.SceneManager.currentScene.world.errorReduction += 0.1
+		
+		//v
+		case 86 => top.SceneManager.currentScene.world.errorReduction -= 0.1
+		
+		case 45 => top.SceneManager.currentScene.world.iterations -= 1
+		case 61 => top.SceneManager.currentScene.world.iterations += 1
+			
+		case x: Any => println("unknown key: " + x)
+	}
+	
+}
\ No newline at end of file
diff --git a/src/test/scala/sims/test/gui/Main.scala b/src/test/scala/sims/test/gui/Main.scala
new file mode 100644
index 0000000..745d793
--- /dev/null
+++ b/src/test/scala/sims/test/gui/Main.scala
@@ -0,0 +1,143 @@
+package sims.test.gui
+
+import processing.core.PApplet
+import processing.core.PConstants._
+import scala.collection.mutable.ArrayBuffer
+
+import sims.math._
+import sims.test.gui.RichShape._
+import sims.test.gui.scenes._
+import sims.dynamics.Shape
+
+class Main extends PApplet {
+	implicit val top = this
+	
+	val SceneManager = new SceneManager
+	import SceneManager._
+	
+	val KeyManager = new KeyManager
+	import KeyManager._
+	
+	var (offsetX, offsetY) = (200.0f, 100.0f)
+	val PPM = 39.37f * 96
+	var viewScale: Float = 1.0f / 80
+	
+	private val fontSize = 16
+	private val f = createFont("Monospaced.plain", fontSize)
+	private def displayText(lines: String*) = {
+		val size = 16
+		val indent = 10
+		
+		fill(0, 0, 0)
+		textMode(SCREEN)
+		textFont(f)
+		
+		for (i <- 0 until lines.length) text(lines(i), indent, (i + 1) * size)
+	}
+	
+	
+	override def setup() = {
+		size(screenWidth * 2 / 3, screenHeight * 2 / 3, P2D)
+		background(255,255,255)
+		frameRate(60)
+		//frame.setResizable(true)
+		currentScene = scenes(0)
+	}
+	
+	var paused = true
+	override def draw() = {
+		smooth()
+		background(255,255,255)
+		
+		translate(offsetX, height - offsetY)
+		scale(viewScale * PPM, -viewScale * PPM)
+		
+		val t0 = System.nanoTime()
+		if (!paused) currentScene.world.step()
+		val collisions = if (currentScene.world.collisionDetection) SceneManager.currentScene.world.detector.collisions() else Seq()
+		val dStep = System.nanoTime() - t0
+		
+		for (g <- graphicals) g.render()
+		fill(255, 0, 0)
+		stroke(20, 0, 0)
+		for (c <- collisions; p <- c.points) {
+			ellipse(p.x.toFloat, p.y.toFloat, 0.1f, 0.1f)
+			stroke(0, 255, 0)
+			val s = p
+			val e = p + c.normal
+			line(s.x.toFloat, s.y.toFloat, e.x.toFloat, e.y.toFloat)
+		}
+				
+				//_.points.foreach((v) => ellipse(v.x.toFloat, v.y.toFloat, 0.1f, 0.1f)))
+		
+		val dRender = System.nanoTime() - t0 - dStep
+		
+		displayText(
+								"status     : " + (if (paused) "paused" else "running"),
+								"------------",
+								"fps    [Hz]: " + frameRate,
+								"------------",
+								"step   [ms]: " + (dStep / 1E6f),
+								"       [%] : " + (dStep.toFloat / (dStep + dRender) * 100),
+								"render [ms]: " + (dRender / 1E6f),
+								"       [%] : " + (dRender.toFloat / (dStep + dRender) * 100),
+								"------------",
+								"memory [MB]: " + java.lang.Runtime.getRuntime.totalMemory / 1E6,
+								"load       : " + java.lang.management.ManagementFactory.getOperatingSystemMXBean.getSystemLoadAverage(),
+								"------------",
+								"bodies     : " + currentScene.world.bodies.length,
+								"shapes     : " + currentScene.world.shapes.length,
+								"joints     : " + currentScene.world.joints.length,
+								"constraints: " + currentScene.world.joints.map(_.constraints.length).sum,
+								"collisions : " + collisions.length,
+								"it     [1] : " + currentScene.world.iterations,
+								"dt     [ms]: " + currentScene.world.h.toFloat,
+								"erp    [ms]: " + currentScene.world.errorReduction.toFloat,
+								"------------",
+								"(" + scaledMouseX + ", " + scaledMouseY + ")"
+				)
+	}
+	
+	def drawGrid() = {
+		
+	}
+	
+	override def keyPressed() = KeyManager.keyPressed(keyCode)
+	
+	def scaledMouseX = (mouseX - offsetX) / viewScale / PPM 
+	def scaledMouseY = (height - mouseY - offsetY) / viewScale / PPM
+	
+	var mouseJoint: Option[MouseJoint] = None
+	override def mousePressed(): Unit = {
+		import Vector2D._
+		val body = currentScene.world.bodies.find(_.contains((scaledMouseX, scaledMouseY)))
+		if (body.isEmpty) return ()
+		val mj = new MouseJoint(body.get, (scaledMouseX, scaledMouseY))
+		currentScene.world += mj
+		mouseJoint = Some(mj)
+	}
+	
+	override def mouseReleased(): Unit = {
+		if (mouseJoint.isEmpty) return ()
+		currentScene.world -= mouseJoint.get
+		mouseJoint = None
+	}
+	
+	override def mouseDragged(): Unit = {
+		import Vector2D._
+		
+		if (mouseJoint.isEmpty) return ()
+		
+		mouseJoint.get.anchor = (scaledMouseX, scaledMouseY)
+		
+	}
+
+	
+
+}
+
+object Main {
+  def main(args : Array[String]) : Unit = {
+  	PApplet.main(args ++ Array("sims.test.gui.Main"))
+  }
+}
\ No newline at end of file
diff --git a/src/test/scala/sims/test/gui/MouseJoint.scala b/src/test/scala/sims/test/gui/MouseJoint.scala
new file mode 100644
index 0000000..0d74dd5
--- /dev/null
+++ b/src/test/scala/sims/test/gui/MouseJoint.scala
@@ -0,0 +1,38 @@
+package sims.test.gui
+
+import sims.dynamics._
+import sims.dynamics.constraints._
+import sims.math._
+
+class MouseJoint(val body1: Body, var anchor: Vector2D) extends Joint {
+	val body2 = new Body() {fixed = true}
+	
+	private val self = this
+	
+	private val local1 = anchor - body1.position
+	
+	private val rotation01 = body1.rotation
+	
+	def r1 = (local1 rotate (body1.rotation - rotation01))
+	
+	def x1 = body1.position + r1
+	def x2 = anchor
+	
+	def x = x2 - x1
+	
+	val constraints = List(
+		new Constraint {
+			val body1 = self.body1
+			val body2 = self.body2
+			def value = x.x
+			def jacobian = new Jacobian(-Vector2D(1, 0), r1.y, Vector2D.i, 0)
+		},
+		new Constraint {
+			val body1 = self.body1
+			val body2 = self.body2
+			def value = x.y
+			def jacobian = new Jacobian(-Vector2D(0, 1), -r1.x, Vector2D.j, 0)
+		}
+	)
+	
+}
\ No newline at end of file
diff --git a/src/test/scala/sims/test/gui/RichJoint.scala b/src/test/scala/sims/test/gui/RichJoint.scala
new file mode 100644
index 0000000..2c3d5fd
--- /dev/null
+++ b/src/test/scala/sims/test/gui/RichJoint.scala
@@ -0,0 +1,51 @@
+package sims.test.gui
+
+import processing.core.PApplet
+import processing.core.PConstants._
+import sims.dynamics._
+
+class RichJoint(joint: Joint) {
+private implicit def double2Float(x: Double): Float = x.toFloat
+	
+	def toGraphical(implicit parent: PApplet) = new GraphicalJoint(joint) {
+		
+		val top = parent
+		
+		val render = joint match {
+			
+			case j: DistanceJoint => () => {
+				top.pushMatrix()
+				top.stroke(0, 0, 0)
+				top.fill(0, 0, 0)
+				top.line(j.x1.x, j.x1.y, j.x2.x, j.x2.y)
+				top.stroke(100, 100, 100)
+				top.line(j.body1.position.x, j.body1.position.y, j.x1.x, j.x1.y)
+				top.line(j.body2.position.x, j.body2.position.y, j.x2.x, j.x2.y)
+				top.popMatrix()
+			}
+			
+			case j: RevoluteJoint => () => {
+				top.pushMatrix()
+				top.stroke(0, 0, 0)
+				top.fill(0, 0, 0)
+				top.line(j.x1.x, j.x1.y, j.x2.x, j.x2.y)
+				top.stroke(100, 100, 100)
+				top.line(j.body1.position.x, j.body1.position.y, j.x1.x, j.x1.y)
+				top.line(j.body2.position.x, j.body2.position.y, j.x2.x, j.x2.y)
+				top.popMatrix()
+			}
+			
+			case j: MouseJoint => () => ()
+			
+			case _ => throw new IllegalArgumentException("Cannot create graphical joint: unknown joint.")
+		}
+	
+	}
+	
+}
+
+object RichJoint {
+	
+	implicit def jointToRichShape(j: Joint) = new RichJoint(j)
+	
+}
\ No newline at end of file
diff --git a/src/test/scala/sims/test/gui/RichShape.scala b/src/test/scala/sims/test/gui/RichShape.scala
new file mode 100644
index 0000000..6817ebe
--- /dev/null
+++ b/src/test/scala/sims/test/gui/RichShape.scala
@@ -0,0 +1,49 @@
+package sims.test.gui
+
+import processing.core.PApplet
+import processing.core.PConstants._
+import sims.dynamics._
+
+class RichShape(shape: Shape) {
+	private implicit def double2Float(x: Double): Float = x.toFloat
+	
+	def toGraphical(implicit parent: PApplet) = new GraphicalShape(shape) {
+		
+		val top = parent
+		
+		val render = shape match {
+			
+			case c: Circle => () => {
+				top.pushMatrix()
+				top.stroke(0, 0, 0)
+				top.fill(0, 0, 255, 200)
+				top.translate(c.position.x, c.position.y)
+				top.rotate(-c.rotation)
+				top.ellipseMode(CENTER)
+				top.ellipse(0, 0, c.radius * 2, c.radius * 2)
+				top.line(0,0, c.radius, 0)
+				top.popMatrix()
+			}
+			
+			case r: Rectangle => () => {
+				top.pushMatrix()
+				top.translate(r.position.x, r.position.y)
+				top.rotate(-r.rotation)
+				top.fill(255, 0, 0, 200)
+				top.rectMode(CENTER)
+				top.rect(0, 0, r.halfWidth * 2, r.halfHeight * 2)
+				top.popMatrix()
+			}
+			
+			case _ => throw new IllegalArgumentException("Cannot create graphical shape: unknown shape.")
+		}
+	
+	}
+	
+}
+
+object RichShape {
+	
+	implicit def shapeToRichShape(s: Shape) = new RichShape(s)
+	
+}
\ No newline at end of file
diff --git a/src/test/scala/sims/test/gui/Scene.scala b/src/test/scala/sims/test/gui/Scene.scala
new file mode 100644
index 0000000..6e1664e
--- /dev/null
+++ b/src/test/scala/sims/test/gui/Scene.scala
@@ -0,0 +1,13 @@
+package sims.test.gui
+
+trait Scene extends Reactor {
+	def name: String = this.getClass().getName()
+	def description: String = ""
+	
+	val world = new DebugWorld
+	
+	def init(): Unit
+	
+	def exit(): Unit = {}
+	
+}
\ No newline at end of file
diff --git a/src/test/scala/sims/test/gui/SceneManager.scala b/src/test/scala/sims/test/gui/SceneManager.scala
new file mode 100644
index 0000000..39da308
--- /dev/null
+++ b/src/test/scala/sims/test/gui/SceneManager.scala
@@ -0,0 +1,95 @@
+package sims.test.gui
+
+import processing.core.PApplet
+import scala.collection.mutable.ArrayBuffer
+import sims.math._
+import sims.test.gui.scenes._
+import sims.test.gui.RichShape._
+import sims.test.gui.RichJoint._
+
+class SceneManager(implicit top: PApplet) {
+	
+	/* Contains objects that will be rendered on `draw()`. */
+	private var _graphicals = new ArrayBuffer[Graphical[_]]
+	def graphicals: Seq[Graphical[_]] = _graphicals
+	
+	/* Current scene. */
+	private var _currentScene: Scene = EmptyScene
+	
+	/* Get current scene. */
+	def currentScene = _currentScene
+	
+	/* Set current scene. */
+	def currentScene_=(newScene: Scene) = {
+		
+		// remove reactions
+		currentScene.deafTo(currentScene.world)
+		currentScene.reactions.clear()
+		
+		// empty world
+		currentScene.world.clear()
+		
+		// clear graphical objects
+		_graphicals.clear()
+		
+		// custom exit behavior
+		currentScene.exit()
+		
+		// add new reactions to create / remove graphical objects
+		newScene.listenTo(newScene.world)
+		newScene.reactions += {
+			case BodyAdded(newScene.world, body) => for (s <- body.shapes) _graphicals += s.toGraphical
+			case BodyRemoved(newScene.world, body) => for (s <- body.shapes) {
+				val index = _graphicals.findIndexOf((g: Graphical[_]) => g match {
+					case gs: GraphicalShape => gs.physical == s
+					case _ => false
+				})
+				_graphicals.remove(index)
+			}
+			
+			case JointAdded(newScene.world, joint) => _graphicals += joint.toGraphical
+			case JointRemoved(newScene.world, joint) => {
+				val index = _graphicals.findIndexOf((g: Graphical[_]) => g match {
+					case gj: GraphicalJoint => gj.physical == joint
+					case _ => false
+				})
+				_graphicals.remove(index)
+			}
+			
+		}
+		
+		// custom initialization
+		newScene.init()
+		
+		// set current scene
+		_currentScene = newScene
+		
+		println("set scene to '" + currentScene.name + "'")
+	}
+	
+	private var currentSceneIndex = 0
+	val scenes = List(
+			BasicScene,
+			CollisionScene,
+			LongCollisionScene,
+			CloudScene,
+			PyramidScene,
+			ShiftedStackScene,
+			JointScene
+		)
+		
+	def nextScene() = {
+		currentSceneIndex += 1
+		currentScene = scenes(mod(currentSceneIndex, scenes.length))
+	}
+	
+	def previousScene() = {
+		currentSceneIndex -= 1
+		currentScene = scenes(mod(currentSceneIndex, scenes.length))
+	}
+	
+	def restartScene() = {
+		currentScene = currentScene
+	}
+	
+}
\ No newline at end of file
diff --git a/src/test/scala/sims/test/gui/events.scala b/src/test/scala/sims/test/gui/events.scala
new file mode 100644
index 0000000..22015ce
--- /dev/null
+++ b/src/test/scala/sims/test/gui/events.scala
@@ -0,0 +1,49 @@
+package sims.test.gui
+
+import scala.collection.mutable.ListBuffer
+import sims.dynamics._
+
+trait Event
+case class BodyAdded(world: World, body: Body) extends Event
+case class BodyRemoved(world: World, body: Body) extends Event
+case class Stepped(wordl: World) extends Event
+case class JointAdded(world: World, joint: Joint) extends Event
+case class JointRemoved(world: World, joint: Joint) extends Event
+
+object Reactions {
+	class Impl extends Reactions {
+		private val parts = new ListBuffer[Reaction]
+		def isDefinedAt(e: Event) = parts exists (_ isDefinedAt e)
+		def +=(r: Reaction) = parts += r
+		def -=(r: Reaction) = parts -= r
+		def clear() = parts.clear()
+		def apply(e: Event) {
+			for (p <- parts; if p isDefinedAt e) p(e)
+		}
+	}
+	type Reaction = PartialFunction[Event, Unit]
+}
+
+abstract class Reactions extends Reactions.Reaction {
+	def +=(r: Reactions.Reaction): Unit
+	def -=(r: Reactions.Reaction): Unit
+	def clear(): Unit
+}
+
+trait Reactor {
+	val reactions: Reactions = new Reactions.Impl 
+	
+	def listenTo(ps: Publisher*) = for (p <- ps) p.subscribe(reactions)
+	def deafTo(ps: Publisher*) = for (p <- ps) p.unsubscribe(reactions)
+}
+
+trait Publisher {
+	import Reactions._
+	
+	private val listeners = new ListBuffer[Reaction]
+	
+	def subscribe(listener: Reaction) = listeners += listener
+	def unsubscribe(listener: Reaction) = listeners -= listener
+	
+	def publish(e: Event) { for (l <- listeners) l(e) }
+}
\ No newline at end of file
diff --git a/src/test/scala/sims/test/gui/graphicals.scala b/src/test/scala/sims/test/gui/graphicals.scala
new file mode 100644
index 0000000..39b2ea0
--- /dev/null
+++ b/src/test/scala/sims/test/gui/graphicals.scala
@@ -0,0 +1,13 @@
+package sims.test.gui
+
+import processing.core.PApplet
+import sims.dynamics.Shape
+import sims.dynamics.Joint
+
+abstract class Graphical[+A](val physical: A) {
+	val top: PApplet
+	val render: () => Unit
+}
+
+abstract class GraphicalShape(val shape: Shape) extends Graphical[Shape](shape)
+abstract class GraphicalJoint(val joint: Joint) extends Graphical[Joint](joint)
\ No newline at end of file
diff --git a/src/test/scala/sims/test/gui/scenes/BasicScene.scala b/src/test/scala/sims/test/gui/scenes/BasicScene.scala
new file mode 100644
index 0000000..9598ab1
--- /dev/null
+++ b/src/test/scala/sims/test/gui/scenes/BasicScene.scala
@@ -0,0 +1,18 @@
+package sims.test.gui
+package scenes
+
+import sims.math._
+import sims.dynamics._
+import sims.dynamics._
+
+object BasicScene extends Scene {
+	
+	def init() = {
+		world.gravity = Vector2D.Null
+		val s = new Circle(1)
+		world += new Body(s) {linearVelocity = Vector2D(0.1, 0.01); angularVelocity = 1}
+		world += new Body(new Rectangle(2,1)) {linearVelocity = Vector2D(0.1, 0.01); angularVelocity = 1}
+	}
+	
+
+}
\ No newline at end of file
diff --git a/src/test/scala/sims/test/gui/scenes/CloudScene.scala b/src/test/scala/sims/test/gui/scenes/CloudScene.scala
new file mode 100644
index 0000000..660e309
--- /dev/null
+++ b/src/test/scala/sims/test/gui/scenes/CloudScene.scala
@@ -0,0 +1,47 @@
+package sims.test.gui
+package scenes
+
+import sims.math._
+import sims.dynamics._
+
+object CloudScene extends Scene {
+	override def description = "A cloud of circles."
+		
+	val MaxItems = 1000
+	val MaxItemSize = 0.2
+	val Width = 10
+	val Height = 10
+	
+	val random = new scala.util.Random(1234567890)
+	def randomCircles(): Seq[Body] = for (i <- 0 until MaxItems) yield {
+		val rX = random.nextDouble * Width
+		val rY = random.nextDouble * Height
+		val c = new Circle(random.nextDouble * MaxItemSize) {
+			position = Vector2D(rX, rY)
+		}
+		new Body(c) {
+			linearVelocity = Vector2D(random.nextDouble * (if (random.nextBoolean) 1 else -1), random.nextDouble * (if (random.nextBoolean) 1 else -1))
+			angularVelocity = random.nextDouble * (if (random.nextBoolean) 1 else -1) * 10
+		}
+	}
+	
+	def frame() = {
+		val points = List(Vector2D(-1, -1), Vector2D(11, -1), Vector2D(11, 11), Vector2D(-1, 11))
+		for (i <- 0 until points.length) yield {
+			val sp = points(i)
+			val ep = points((i + 1) % points.length)
+			val center = (sp + ep) / 2
+			val r = new Rectangle((center - ep).length, 0.2) {
+				position = center
+				rotation = math.Pi / 2 * i
+			}
+			new Body(r) {fixed = true}
+		}
+	}	
+	
+	override def init() = {
+		world.gravity = Vector2D.Null
+		for (r <- randomCircles()) world += r
+		//for (r <- frame()) world += r
+	}
+}
\ No newline at end of file
diff --git a/src/test/scala/sims/test/gui/scenes/CollisionScene.scala b/src/test/scala/sims/test/gui/scenes/CollisionScene.scala
new file mode 100644
index 0000000..cf2ea61
--- /dev/null
+++ b/src/test/scala/sims/test/gui/scenes/CollisionScene.scala
@@ -0,0 +1,41 @@
+package sims.test.gui
+package scenes
+
+import sims.dynamics._
+import sims.math._
+import sims.dynamics._
+
+object CollisionScene extends Scene {
+	override def description = "A basic collision detection test."
+	
+	var c1 = (new Circle(1) {restitution = 1.0}).asBody
+	var c2 = (new Circle(1) {position = Vector2D(3, 0)}).asBody
+	var r1 = (new Rectangle(0.5, 0.5) {position = Vector2D(6,0)}).asBody
+	
+	def init() = {
+		c1 = (new Circle(1) {restitution = 1.0}).asBody
+		c2 = (new Circle(1) {position = Vector2D(3, 0); restitution = 1.0}).asBody
+		r1 = (new Rectangle(0.5, 0.5) {position = Vector2D(6,0)}).asBody
+		
+		c1.linearVelocity = Vector2D(1, 0)
+	
+		world.gravity = Vector2D(0, 0)
+		world += c1
+		world += c2
+		world += r1
+		
+		reactions += {
+			case Stepped(`world`) =>
+				println(
+					"p: " + (c1.linearMomentum.length + c2.linearMomentum.length + r1.linearMomentum.length).toFloat + 
+					"\tE: " + (E(c1) + E(c2) + E(r1)).toFloat
+					)
+		}
+	}
+	
+	
+	def E(b: Body) = {
+		(b.linearVelocity dot b.linearVelocity) * b.mass / 2
+	}
+		
+}
\ No newline at end of file
diff --git a/src/test/scala/sims/test/gui/scenes/EmptyScene.scala b/src/test/scala/sims/test/gui/scenes/EmptyScene.scala
new file mode 100644
index 0000000..a88679a
--- /dev/null
+++ b/src/test/scala/sims/test/gui/scenes/EmptyScene.scala
@@ -0,0 +1,6 @@
+package sims.test.gui
+package scenes
+
+object EmptyScene extends Scene {
+	def init() = ()
+}
\ No newline at end of file
diff --git a/src/test/scala/sims/test/gui/scenes/JointScene.scala b/src/test/scala/sims/test/gui/scenes/JointScene.scala
new file mode 100644
index 0000000..4a0726f
--- /dev/null
+++ b/src/test/scala/sims/test/gui/scenes/JointScene.scala
@@ -0,0 +1,107 @@
+package sims.test.gui
+package scenes
+
+import sims.dynamics._
+import sims.math._
+import sims.dynamics._
+
+object JointScene extends Scene {
+	
+	override def init() = {
+		val b1 = new Body(new Circle(0.1)) {fixed = true}
+		val b2 = new Body(new Rectangle(0.1, 0.5)) {position = Vector2D(2,2)}
+		val j = new DistanceJoint(b1, b1.position, b2, b2.position + Vector2D(0, -0.5))
+		world += b1
+		world += b2
+		world += j
+		
+		val chainBodies = for (i <- 0 until 10) yield new Body(new Rectangle(0.5, 0.1)){fixed = i == 0 || i == 9; position = Vector2D(i, 5)}
+		val chainHinges = for (i <- 0 until chainBodies.length - 1) yield
+			new RevoluteJoint(chainBodies(i), chainBodies(i + 1), Vector2D(i + 0.5, 5))
+		for (b <- chainBodies) world += b
+		for (j <- chainHinges) world += j
+		
+		import sims.dsl._
+		val c = new Body(new Circle(0.1)) {position = Vector2D(4, 0)}
+		world += c
+		world += c distance chainBodies(4)
+		
+		val r = new Body(new Rectangle(2, 0.1)) {position = Vector2D(4, 0)}
+		world += r
+		world += c revolute r
+		
+		val c2 = new Body(new Circle(0.2)) {position = Vector2D(2, 2)}
+		world += c2
+		world += r :@@ (-2, 0) distance c2
+		
+		val r2 = new Body(new Rectangle(0.1, 0.2)) {position = Vector2D(6, 2)}
+		world += r2
+		world += r :@@ (2, 0) distance (0, -0.2) @@: r2
+		
+		val r3 = new Body(new Rectangle(0.3, 0.1)) {position = Vector2D(6.3, 2.2)}
+		world += r3
+		world += r2 :@ (6, 2.2) revolute r3
+		
+		// chaos pendulum
+		{
+			val c1 = new Body(new Circle(0.1)) {fixed = true; position = Vector2D(12, 2)}
+			world += c1
+			val r1 = new Body(new Rectangle(1, 0.1)) {position = Vector2D(13, 2)}
+			world += r1
+			val r2 = new Body(new Rectangle(1, 0.1)) {position = Vector2D(15, 2)}
+			world += r2
+			
+			world += c1 revolute r1
+			world += r1 :@@ (1, 0) revolute r2
+			
+		}
+		
+		// net
+		{
+			val w = 10
+			val h = 10
+			val d = 0.2
+			
+			val nodes = 
+				for (i <- (0 until w).toArray) yield
+					for (j <- (0 until h).toArray) yield
+						new Body(new Circle(0.05)) {fixed = i == 0 && j == h - 1 ; position = Vector2D(i * d, j * d) + Vector2D(-3, 2)}
+			
+			for (n <- nodes.flatten) world += n
+			
+			val joints = {
+				var r: List[DistanceJoint] = Nil
+				for(i <- 0 to nodes.length - 1; j <- 0 to nodes(i).length - 1) {
+					if (i > 0)
+						r = (nodes(i-1)(j) distance nodes(i)(j)) :: r
+					if (j > 0)
+						r = (nodes(i)(j-1) distance nodes(i)(j)) :: r
+				}
+				r
+			}
+			
+			for (j <- joints) world += j
+			
+		}
+		
+		
+		world.collisionDetection = false
+		world.iterations = 10
+		world.errorReduction = 1
+		
+		
+		/*
+		val r1 = new Body(new Rectangle(0.5, 0.1)) {fixed = true; position = Vector2D(5, 5)}
+		val r2 = new Body(new Rectangle(0.5, 0.1)) {position = Vector2D(6, 5)}
+		val r3 = new Body(new Rectangle(0.5, 0.1)) {position = Vector2D(7, 5)}
+		val j12 = new RevoluteJoint(r1, r2, Vector2D(5.5, 5))
+		val j23 = new RevoluteJoint(r2, r3, Vector2D(6.5, 5))
+		world += r1
+		world += r2
+		world += r3
+		world += j12
+		world += j23
+		*/
+	}
+
+}
\ No newline at end of file
diff --git a/src/test/scala/sims/test/gui/scenes/LongCollisionScene.scala b/src/test/scala/sims/test/gui/scenes/LongCollisionScene.scala
new file mode 100644
index 0000000..d153f1b
--- /dev/null
+++ b/src/test/scala/sims/test/gui/scenes/LongCollisionScene.scala
@@ -0,0 +1,54 @@
+package sims.test.gui
+package scenes
+
+import sims.dynamics._
+import sims.math._
+import sims.dynamics._
+
+object LongCollisionScene extends Scene {
+	override def description = "A test to verify conservation in a collision."
+	
+	def makeBodies() = (for (i <- 0 until 10) yield {
+		new Circle(0.2) {
+			position = Vector2D(0 + 2.01 * radius * i, 0)
+			restitution = 0.8
+		}
+	}.asBody) ++ (for (i <- 0 until 10) yield {
+		new Circle(0.2) {
+			position = Vector2D(6 + 2.01 * radius * i, 0)
+			restitution = 0.8
+		}
+	}.asBody)
+		
+	override def init() = {
+		val bodies = makeBodies()
+		bodies(0).fixed = true
+		bodies(19).fixed = true
+		for (b <- bodies) world += b
+		world.gravity = Vector2D.Null
+		
+		val bullet = new Body(new Circle(0.2) {
+			position = Vector2D(5, 0)
+			restitution = 0.8}) {
+			linearVelocity = Vector2D(3, 0)
+		}
+		world += bullet
+		
+		world.iterations = 10
+		
+		registerListeners()
+	}
+	
+	def registerListeners() = {
+		reactions += {
+			case Stepped(`world`) => println(
+					"P: " + world.bodies.map(P(_)).sum.toFloat + 
+					"\tE: " + world.bodies.map(E(_)).sum.toFloat
+				)
+		}
+	}
+	
+	def P(b: Body) = if (b.fixed) 0 else b.linearMomentum.length
+	def E(b: Body) = if (b.fixed) 0 else (b.linearVelocity dot b.linearVelocity) * b.mass * 0.5
+
+}
\ No newline at end of file
diff --git a/src/test/scala/sims/test/gui/scenes/PyramidScene.scala b/src/test/scala/sims/test/gui/scenes/PyramidScene.scala
new file mode 100644
index 0000000..19438de
--- /dev/null
+++ b/src/test/scala/sims/test/gui/scenes/PyramidScene.scala
@@ -0,0 +1,40 @@
+package sims.test.gui
+package scenes
+
+import sims.math._
+import sims.dynamics._
+import sims.dynamics._
+
+object PyramidScene extends Scene {
+	override def description = "A pyramid made out of circles."
+	
+	val Base = 40
+	var Radius = 0.2
+	
+	val s = math.sqrt(3)
+	
+	def pyramid: Seq[Body] = (for (i <- 0 until Base) yield {
+		for (j <- 0 until Base - i) yield new Body(
+			new Circle(Radius) {
+				position = Vector2D(2 * j * Radius + i * Radius, s * i * Radius)
+				restitution = 0.5
+			}
+		) {fixed = (i == 0)}
+	}).flatten
+		
+	override def init() = {
+		//world.gravity = Vector2D.Null
+		for (b <- pyramid) world += b
+	
+		val b = new Circle(0.3) {
+			override val density = 10.0
+			position = Vector2D(4,15)
+		}
+		val bd = new Body(b){
+			linearVelocity = Vector2D(0, -2.5)
+		}
+	
+		world += bd
+	}
+
+}
\ No newline at end of file
diff --git a/src/test/scala/sims/test/gui/scenes/ShiftedStackScene.scala b/src/test/scala/sims/test/gui/scenes/ShiftedStackScene.scala
new file mode 100644
index 0000000..c8a7af6
--- /dev/null
+++ b/src/test/scala/sims/test/gui/scenes/ShiftedStackScene.scala
@@ -0,0 +1,30 @@
+package sims.test.gui
+package scenes
+
+import sims.math._
+import sims.dynamics._
+
+object ShiftedStackScene extends Scene {
+	override def description = "A stack of shifted rectangles."
+	/*override val world = new DebugWorld{
+		import sims.collision._
+		import sims.collision.narrowphase._
+		import sims.collision.broadphase._
+		override val detector = SAP[Shape] narrowedBy new sims.test.gjk.GJK[Shape]
+	}*/
+	
+	val width = 1.0
+	val height = 0.2
+	
+	def stack() = for (i <- 0 until 2) yield
+		new Body(new Rectangle(width / 2, height / 2) {
+			position = Vector2D(0.25 * (i % 2) , i * height)
+			restitution = 0.0
+		}) {fixed = i == 0}
+	
+	override def init() = {
+		for (s <- stack()) world += s
+		world.iterations = 100
+	}
+
+}
\ No newline at end of file