MSD Version 0.02

svn path=/trunk/externals/nusmuk/; revision=2795

2 files changed, 214 insertions, 110 deletions

diff --git a/msd/help-msd.pd b/msd/help-msd.pd
index 80d792d..e77b750 100644
--- a/msd/help-msd.pd
+++ b/msd/help-msd.pd
@@ -1,76 +1,170 @@
-#N canvas 0 0 794 877 10;
+#N canvas 367 274 570 449 10;
+#N canvas 271 52 742 843 masses 1;
 #X obj 33 821 msd;
-#X obj 62 14 cnv 15 610 305 empty empty CREATION 20 12 0 14 -262131
+#X obj 62 154 cnv 15 610 180 empty empty CREATION 20 12 0 14 -262131
 -66577 0;
-#X msg 79 43 reset;
-#X text 249 74 Add a mass;
-#X text 335 75 \$1 : Id (symbol);
-#X text 334 95 \$2 : fixed or mobile (0/1);
-#X text 334 113 \$3 : mass;
-#X text 334 151 \$1 : Id (symbol);
-#X text 246 151 Add a link;
-#X text 333 171 \$2 : creation No of mass1;
-#X text 333 189 \$3 : creation No of mass2;
-#X text 332 207 \$4 : rigidity;
-#X text 251 44 Delete all masses and links;
-#X text 332 225 \$5 : viscosity;
-#X text 332 242 \$6 : damping;
-#X obj 62 324 cnv 15 610 60 empty empty COMPUTATION 20 12 0 14 -261689
+#X msg 79 183 reset;
+#X text 249 214 Add a mass;
+#X text 335 215 \$1 : Id (symbol);
+#X text 334 235 \$2 : fixed or mobile (0/1);
+#X text 334 253 \$3 : mass;
+#X text 251 184 Delete all masses and links;
+#X obj 62 338 cnv 15 610 60 empty empty COMPUTATION 20 12 0 14 -261689
 -66577 0;
-#X msg 82 353 bang;
-#X text 235 353 Compute new masses positions;
-#X obj 61 388 cnv 15 610 220 empty empty DYNAMIC_SETTING 20 12 0 14
+#X msg 82 367 bang;
+#X text 235 367 Compute new masses positions;
+#X obj 61 403 cnv 15 610 210 empty empty DYNAMIC_SETTING 20 12 0 14
 -262131 -66577 0;
-#X msg 169 410 setD \$1 \$2;
-#X text 354 428 \$1 : Id (symbol);
-#X text 354 446 \$2 : New value;
-#X msg 87 410 setK \$1 \$2;
-#X text 350 482 \$1 : Id (symbol);
-#X text 350 500 \$2 : New value;
-#X text 348 539 \$1 : Id (symbol);
-#X text 348 557 \$2 : New value;
-#X msg 87 462 posX \$1 \$2;
-#X text 350 464 Set position of mass(es);
-#X text 347 522 Add force on mass(es);
-#X msg 85 521 forceX \$1 \$2;
-#X msg 255 410 setD2 \$1 \$2;
-#X text 354 410 Set rigidity \, viscosity or damping of link(s);
-#X obj 60 617 cnv 15 610 198 empty empty GET_ATTRIBUTES 20 12 0 14
+#X text 350 449 \$1 : Id (symbol);
+#X text 350 467 \$2 : New value;
+#X text 348 503 \$1 : Id (symbol);
+#X text 348 521 \$2 : New value;
+#X msg 87 429 posX \$1 \$2;
+#X text 350 431 Set position of mass(es);
+#X text 347 486 Add force on mass(es);
+#X msg 85 485 forceX \$1 \$2;
+#X obj 61 617 cnv 15 610 198 empty empty GET_ATTRIBUTES 20 12 0 14
 -261689 -66577 0;
-#X msg 146 644 massePosL;
-#X msg 146 672 masseForcesL;
-#X text 247 644 output all masses positions in a list on outlet No
+#X msg 147 644 massePosL;
+#X msg 147 672 masseForcesL;
+#X text 248 644 output all masses positions in a list on outlet No
 1;
-#X text 246 673 output all masses forces in a list on outlet No 1;
-#X msg 145 710 get \$1 \$2;
-#X text 248 711 Get specific attribute;
-#X text 248 736 \$1 : Attribute type ( massesPos / massesSpeeds / massesForces
+#X text 247 673 output all masses forces in a list on outlet No 1;
+#X msg 146 710 get \$1 \$2;
+#X text 249 711 Get specific attribute;
+#X text 249 736 \$1 : Attribute type ( massesPos / massesSpeeds / massesForces
 / linksPos );
-#X text 248 773 \$2 : Id (symbol or creations numbers);
-#X text 334 131 \$4 : position;
-#X msg 79 74 mass \$1 \$2 \$3 \$4;
-#X msg 76 151 link \$1 \$2 \$3 \$4 \$5 \$6;
-#X msg 75 258 deleteMass \$1;
-#X text 240 260 Delete a mass and associated links;
-#X text 330 277 \$1 : Creation No of mass;
-#X msg 74 294 deleteLink \$1;
-#X text 239 296 Delete a link;
-#X text 340 296 \$1 : Creation No of link;
-#X msg 143 793 infosL;
-#X text 246 793 Get infos on all masses and links on outlet No 2;
-#X msg 84 573 Xmin \$1 \, Xmax \$1;
-#X text 347 576 Set minimimum and maximum X of masses;
-#X text 347 593 \$1 : Value;
+#X text 249 773 \$2 : Id (symbol or creations numbers);
+#X msg 79 214 mass \$1 \$2 \$3 \$4;
+#X msg 79 290 deleteMass \$1;
+#X text 248 292 Delete a mass and associated links;
+#X text 338 309 \$1 : Creation No of mass;
+#X msg 144 793 infosL;
+#X text 247 793 Get infos on all masses and links on outlet No 2;
+#X msg 84 535 Xmin \$1 \, Xmax \$1;
+#X text 347 538 Set minimimum and maximum X of masses;
+#X text 347 555 \$1 : Value;
+#X text 73 22 MASSES :;
+#X text 66 69 They got only one physical parameter \, the value of
+their;
+#X text 67 83 mass. They can be mobile or fixed \, in this case forces
+;
+#X text 67 54 The msd masses are the principals objects of the model.
+;
+#X text 66 97 applied on them automatically \, by links \, or manually
+\, by;
+#X text 67 112 messages \, don't do anything.;
+#X msg 81 574 setMobile \$1 \, setFixed \$1;
+#X text 345 578 Change mobile parameter;
+#X text 345 594 \$1 : Creation No of mass;
+#X text 334 271 \$4 : initial position;
 #X connect 2 0 0 0;
+#X connect 9 0 0 0;
 #X connect 16 0 0 0;
+#X connect 19 0 0 0;
+#X connect 21 0 0 0;
 #X connect 22 0 0 0;
-#X connect 27 0 0 0;
+#X connect 25 0 0 0;
+#X connect 29 0 0 0;
 #X connect 30 0 0 0;
-#X connect 34 0 0 0;
+#X connect 33 0 0 0;
 #X connect 35 0 0 0;
-#X connect 38 0 0 0;
-#X connect 43 0 0 0;
 #X connect 44 0 0 0;
-#X connect 45 0 0 0;
-#X connect 48 0 0 0;
-#X connect 51 0 0 0;
+#X restore 281 323 pd masses;
+#N canvas 222 83 808 841 links 0;
+#X obj 33 821 msd;
+#X obj 62 250 cnv 15 610 305 empty empty CREATION 20 12 0 14 -262131
+-66577 0;
+#X msg 79 279 reset;
+#X text 338 308 \$1 : Id (symbol);
+#X text 250 308 Add a link;
+#X text 337 328 \$2 : creation No of mass1;
+#X text 337 346 \$3 : creation No of mass2;
+#X text 336 364 \$4 : rigidity;
+#X text 251 280 Delete all masses and links;
+#X text 336 382 \$5 : viscosity;
+#X text 336 399 \$6 : damping;
+#X obj 61 561 cnv 15 610 82 empty empty DYNAMIC_SETTING 20 12 0 14
+-262131 -66577 0;
+#X msg 172 583 setD \$1 \$2;
+#X text 354 601 \$1 : Id (symbol);
+#X text 354 619 \$2 : New value;
+#X msg 87 583 setK \$1 \$2;
+#X msg 255 583 setD2 \$1 \$2;
+#X text 354 583 Set rigidity \, viscosity or damping of link(s);
+#X obj 60 650 cnv 15 610 140 empty empty GET_ATTRIBUTES 20 12 0 14
+-261689 -66577 0;
+#X msg 75 679 get \$1 \$2;
+#X text 237 680 Get specific attribute;
+#X text 237 705 \$1 : Attribute type ( massesPos / massesSpeeds / massesForces
+/ linksPos );
+#X text 237 742 \$2 : Id (symbol or creations numbers);
+#X msg 78 308 link \$1 \$2 \$3 \$4 \$5 \$6;
+#X msg 74 532 deleteLink \$1;
+#X text 239 534 Delete a link;
+#X text 340 534 \$1 : Creation No of link;
+#X msg 73 762 infosL;
+#X text 236 762 Get infos on all masses and links on outlet No 2;
+#X msg 73 423 iLink \$1 \$2 \$3 \$4 \$5 \$6;
+#X text 338 308 \$1 : Id (symbol);
+#X text 250 308 Add a link;
+#X text 337 328 \$2 : creation No of mass1;
+#X text 337 346 \$3 : creation No of mass2;
+#X text 336 364 \$4 : rigidity;
+#X text 336 382 \$5 : viscosity;
+#X text 336 399 \$6 : damping;
+#X text 410 422 \$1 : Id (symbol);
+#X text 409 478 \$4 : rigidity;
+#X text 409 496 \$5 : viscosity;
+#X text 409 513 \$6 : damping;
+#X text 410 422 \$1 : Id (symbol);
+#X text 409 478 \$4 : rigidity;
+#X text 409 496 \$5 : viscosity;
+#X text 409 513 \$6 : damping;
+#X text 248 423 Add an interactor link;
+#X text 94 52 LINKS :;
+#X text 71 91 parameters : length \, rigidity \, viscosity and damping.
+;
+#X text 72 78 Links connect masses two by two. They got 4 physicals
+;
+#X text 70 134 the two masses at the creation.;
+#X text 71 120 message. The lenght is initialised to the distance between
+;
+#X text 71 106 Rigidity \, viscosity and damping are defined by the
+creation;
+#X text 409 442 \$2 : Id (symbol) of masses type 1;
+#X text 409 460 \$3 : Id (symbol) of masses type 2;
+#X text 70 148 Interactor links are links between mutiples masses \,
+instead;
+#X text 70 161 of creation number \, the masses linked are defined
+with;
+#X text 69 175 their Id.;
+#X connect 2 0 0 0;
+#X connect 15 0 0 0;
+#X connect 19 0 0 0;
+#X connect 23 0 0 0;
+#X connect 24 0 0 0;
+#X connect 27 0 0 0;
+#X connect 29 0 0 0;
+#X restore 283 353 pd links;
+#X text 135 323 HELP on masses --->;
+#X text 134 354 HELP on links --->;
+#X text 154 34 MSD : mass - spring - damper model;
+#X text 75 79 MSD is the 1D object of the msd objects collection.;
+#X text 73 128 There are 4 types of messages for msd :;
+#X text 74 92 It is designed to implement particules physical model
+in PD.The model is based on two elements type : mass and link.;
+#X obj 73 143 cnv 15 420 30 empty empty empty 20 12 0 14 -262131 -66577
+0;
+#X obj 73 176 cnv 15 420 30 empty empty empty 20 12 0 14 -261689 -66577
+0;
+#X obj 73 209 cnv 15 420 30 empty empty empty 20 12 0 14 -262131 -66577
+0;
+#X obj 73 242 cnv 15 420 30 empty empty empty 20 12 0 14 -261689 -66577
+0;
+#X text 76 150 CREATION : To create the model masses and links.;
+#X text 76 215 DYNAMIC SETTING : To set the model parameters dynamically.
+;
+#X text 76 248 ATTRIBUTES : To get the model parameters.;
+#X text 76 177 COMPUTATION : To compute the new model state based on
+previous instant.;
diff --git a/msd/main.cpp b/msd/main.cpp
index b01bc5e..a9aad8a 100755
--- a/msd/main.cpp
+++ b/msd/main.cpp
@@ -101,7 +101,7 @@ public:
 protected:
 
 // ---------------------------------------------------------------  RESET 
-
+// ----------------------------------------------------------------------
 	void m_reset() 
 	{ 
 		t_int i;
@@ -121,6 +121,7 @@ protected:
 	}
 
 // --------------------------------------------------------------  COMPUTE 
+// -----------------------------------------------------------------------
 
 	void m_bang()
 	{
@@ -130,37 +131,37 @@ protected:
 	
 		for (i=0; i<nb_link; i++)	{

 		// compute link forces
-			distance = link[i]->mass1->posX-link[i]->mass2->posX;
-			F  = link[i]->K1 * (distance - link[i]->longueur) ;	// F = k1(x1-x2)
-			F += link[i]->D1 * (distance - link[i]->distance_old) ;	// F = F + D1(v1-v2)
+			distance = link[i]->mass1->posX-link[i]->mass2->posX;		// L[n] = x1 - x2
+			F  = link[i]->K1 * (distance - link[i]->longueur) ;		// F[n] = k1 (L[n] - L[0])
+			F += link[i]->D1 * (distance - link[i]->distance_old) ;		// F[n] = F[n] + D1 (L[n] - L[n-1])
 			if (distance != 0) 	{
-				Fx = F * (link[i]->mass1->posX - link[i]->mass2->posX)/distance;
+				Fx = F * (link[i]->mass1->posX - link[i]->mass2->posX)/distance; // Fx = F * Lx[n]/L[n]
 			}

-			link[i]->mass1->forceX -= Fx;
-			link[i]->mass1->forceX -= link[i]->D2*link[i]->mass1->speedX;

-			link[i]->mass2->forceX += Fx;
-			link[i]->mass2->forceX -= link[i]->D2*link[i]->mass2->speedX;
-			link[i]->distance_old = distance;
+			link[i]->mass1->forceX -= Fx;					// Fx1[n] = -Fx
+			link[i]->mass1->forceX -= link[i]->D2*link[i]->mass1->speedX; 	// Fx1[n] = Fx1[n] - D2 * vx1[n-1]

+			link[i]->mass2->forceX += Fx;					// Fx2[n] = Fx
+			link[i]->mass2->forceX -= link[i]->D2*link[i]->mass2->speedX; 	// Fx2[n] = Fx2[n] - D2 * vx2[n-1]
+			link[i]->distance_old = distance;				// L[n-1] = L[n]
 		}
 

 		for (i=0; i<nb_mass; i++)

 		// compute new masses position only if mobile = 1

 			if (mass[i]->mobile == 1)  		{

-				X_new = mass[i]->forceX * mass[i]->invM + 2*mass[i]->posX - mass[i]->posX2;
-				mass[i]->posX2 = mass[i]->posX;
-				mass[i]->posX = max(min(X_new,Xmax),Xmin);			// x = x + v
-				mass[i]->speedX = mass[i]->posX - mass[i]->posX2;	// v = v + F/M
+				X_new = mass[i]->forceX * mass[i]->invM + 2*mass[i]->posX - mass[i]->posX2; // x[n] =Fx[n]/M+2x[n]-x[n-1] 
+				mass[i]->posX2 = mass[i]->posX;				// x[n-2] = x[n-1]
+				mass[i]->posX = max(min(X_new,Xmax),Xmin);		// x[n-1] = x[n]	
+				mass[i]->speedX = mass[i]->posX - mass[i]->posX2;	// vx[n] = x[n] - x[n-1]
 				}
 
 		for (i=0; i<nb_mass; i++)	{

 		// clear forces
 			mass[i]->out_forceX = mass[i]->forceX;

-			mass[i]->forceX = 0;
+			mass[i]->forceX = 0;						// Fx[n] = 0
 		}

 	}
 
 // --------------------------------------------------------------  MASSES
-
+// ----------------------------------------------------------------------
 	void m_mass(int argc,t_atom *argv) 

 	// add a mass

 	// Id, nbr, mobile, invM, speedX, posX, forceX

@@ -168,18 +169,18 @@ protected:
 		t_atom sortie[5], aux[2];
 		t_float M;
 
-		mass[nb_mass] = new t_mass;			// new pointer

-		mass[nb_mass]->Id = GetSymbol(argv[0]);	// ID
+		mass[nb_mass] = new t_mass;			// new mass

+		mass[nb_mass]->Id = GetSymbol(argv[0]);		// ID
 		mass[nb_mass]->mobile = GetInt(argv[1]);	// mobile
 		if (GetFloat(argv[2])==0)
 			M=1;
 		else M = GetFloat(argv[2]);			
-		mass[nb_mass]->invM = 1/(M);			// invM
-		mass[nb_mass]->speedX = 0;			// vx

-		mass[nb_mass]->posX = GetFloat(argv[3]);		// x
-		mass[nb_mass]->posX2 = GetFloat(argv[3]);		// x

-		mass[nb_mass]->forceX = 0;			// Fx
-		mass[nb_mass]->nbr = id_mass;			// id_nbr
+		mass[nb_mass]->invM = 1/(M);			// 1/M
+		mass[nb_mass]->speedX = 0;			// vx[n]

+		mass[nb_mass]->posX = GetFloat(argv[3]);	// x[n]
+		mass[nb_mass]->posX2 = GetFloat(argv[3]);	// x[n-1]

+		mass[nb_mass]->forceX = 0;			// Fx[n]
+		mass[nb_mass]->nbr = id_mass;			// id number
 		nb_mass++ ;
 		id_mass++;

 		nb_mass = min ( nb_max_mass -1, nb_mass );
@@ -252,6 +253,8 @@ protected:
 	t_int i,nb_link_delete=0;
 	t_atom sortie[5], aux[nb_link];
 	
+
+	// Delete all associated links 
 	for (i=0; i<nb_link;i++)	{
 		if (link[i]->mass1->nbr == GetAInt(argv[0]) || link[i]->mass2->nbr == GetAInt(argv[0]))	{
 			SetFloat((aux[nb_link_delete]),link[i]->nbr);
@@ -261,7 +264,8 @@ protected:
 
 	for (i=0; i<nb_link_delete;i++)
 		m_delete_link(1,&aux[i]);
-
+	
+	// Delete mass
 	for (i=0; i<nb_mass;i++)
 		if (mass[i]->nbr == GetAInt(argv[0]))	{
 			SetFloat((sortie[0]),mass[i]->nbr);
@@ -270,7 +274,7 @@ protected:
 			SetFloat((sortie[3]),1/mass[i]->invM);
 			SetFloat((sortie[4]),mass[i]->posX);
 			delete mass[i];
-			mass[i] = mass[nb_mass-1];
+			mass[i] = mass[nb_mass-1]; 	// copy last mass instead 
 			nb_mass--;
 			ToOutAnything(1,S_Mass_deleted,5,sortie);
 			break;
@@ -281,17 +285,18 @@ protected:
 
 	void m_Xmax(int argc,t_atom *argv) 
 	{

-	// set damping of link(s) named Id
+	// set X max
 	Xmax = GetFloat(argv[0]);
 	}
 
 	void m_Xmin(int argc,t_atom *argv) 
 	{

-	// set damping of link(s) named Id
+	// set X min
 	Xmin = GetFloat(argv[0]);
 	}
 
 // --------------------------------------------------------------  LINKS 
+// ---------------------------------------------------------------------
 
 	void m_link(int argc,t_atom *argv) 
 	// add a link

@@ -300,20 +305,20 @@ protected:
 		t_atom sortie[7], aux[2];
 		t_int i;
 
-		link[nb_link] = new t_link;
-		link[nb_link]->Id = GetSymbol(argv[0]);
+		link[nb_link] = new t_link;			// New pointer
+		link[nb_link]->Id = GetSymbol(argv[0]);		// ID
 		for (i=0; i<nb_mass;i++)
-			if (mass[i]->nbr==GetAInt(argv[1]))
+			if (mass[i]->nbr==GetAInt(argv[1]))	// pointer to mass1
 				link[nb_link]->mass1 = mass[i];
-			else if(mass[i]->nbr==GetAInt(argv[2]))
+			else if(mass[i]->nbr==GetAInt(argv[2]))	// pointer to mass2
 				link[nb_link]->mass2 = mass[i];
-		link[nb_link]->K1 = GetFloat(argv[3]);

-		link[nb_link]->D1 = GetFloat(argv[4]);
-		link[nb_link]->D2 = GetFloat(argv[5]);
-		link[nb_link]->longx = link[nb_link]->mass1->posX - link[nb_link]->mass2->posX;
-		link[nb_link]->longueur = link[nb_link]->longx ;
-		link[nb_link]->nbr = id_link;
-		link[nb_link]->distance_old = link[nb_link]->longueur;
+		link[nb_link]->K1 = GetFloat(argv[3]);		// K1

+		link[nb_link]->D1 = GetFloat(argv[4]);		// D1
+		link[nb_link]->D2 = GetFloat(argv[5]);		// D2
+		link[nb_link]->longx = link[nb_link]->mass1->posX - link[nb_link]->mass2->posX;	// Lx[0]
+		link[nb_link]->longueur = link[nb_link]->longx ;// L[0]
+		link[nb_link]->nbr = id_link;			// id number
+		link[nb_link]->distance_old = link[nb_link]->longueur;	// L[n-1]
 		nb_link++;
 		id_link++;

 		nb_link = min ( nb_max_link -1, nb_link );
@@ -356,7 +361,7 @@ protected:
 					SetSymbol((arglist[0]),GetSymbol(argv[0]));
 					SetFloat((arglist[1]),mass[imass1[i]]->nbr);
 					SetFloat((arglist[2]),mass[imass2[j]]->nbr);
-					SetFloat((arglist[3]),GetInt(argv[3]));
+					SetFloat((arglist[3]),GetFloat(argv[3]));
 					SetFloat((arglist[4]),GetFloat(argv[4]));
 					SetFloat((arglist[5]),GetFloat(argv[5]));
 					m_link(6,arglist);
@@ -418,7 +423,7 @@ protected:
 			SetFloat((sortie[5]),link[i]->D1);
 			SetFloat((sortie[6]),link[i]->D2);
 			delete link[i];
-			link[i]=link[nb_link-1];
+			link[i]=link[nb_link-1];	// copy last link instead
 			nb_link--;
 			ToOutAnything(1,S_Link_deleted,7,sortie);
 			break;
@@ -427,6 +432,7 @@ protected:
 
 
 // --------------------------------------------------------------  GET 
+// -------------------------------------------------------------------
 
 	void m_get(int argc,t_atom *argv)
 	// get attributes
@@ -595,7 +601,7 @@ protected:
 	}
 
 	void m_force_dumpl()
-	// List of masses positions on first outlet
+	// List of masses forces on first outlet
 	{	
 		t_atom sortie[nb_mass];
 		t_int i;
@@ -607,7 +613,7 @@ protected:
 	}
 
 	void m_info_dumpl()
-	// List of masses positions on first outlet
+	// List of masses and links infos on first outlet
 	{	
 		t_atom sortie[7];
 		t_int i;
@@ -636,16 +642,19 @@ protected:
 
 
 // --------------------------------------------------------------  PROTECTED VARIABLES 
+// -----------------------------------------------------------------------------------
 
-	t_link * link[nb_max_link];

-	t_mass * mass[nb_max_mass];
-	t_float Xmin, Xmax, Ymin, Ymax;
+	t_link * link[nb_max_link];		// Pointer table on links

+	t_mass * mass[nb_max_mass];		// Pointer table on masses
+	t_float Xmin, Xmax;			// Limit values
 	int nb_link, nb_mass, id_mass, id_link;
 
 // --------------------------------------------------------------  SETUP
+// ---------------------------------------------------------------------
 
 private:
 
+	// Static symbols
 	const static t_symbol *S_Reset;
 	const static t_symbol *S_Mass;
 	const static t_symbol *S_Link;
@@ -721,7 +730,8 @@ private:
 	FLEXT_CALLBACK_V(m_delete_link)
 	FLEXT_CALLBACK_V(m_delete_mass)
 };
-
+// -------------------------------------------------------------- STATIC VARIABLES
+// -------------------------------------------------------------------------------
 
 	const t_symbol *msd::S_Reset = MakeSymbol("Reset");
 	const t_symbol *msd::S_Mass = MakeSymbol("Mass");