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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
*/
}
}
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