diff options
Diffstat (limited to 'src/lia3D.c')
| -rwxr-xr-x | src/lia3D.c | 238 |
1 files changed, 238 insertions, 0 deletions
diff --git a/src/lia3D.c b/src/lia3D.c new file mode 100755 index 0000000..4621516 --- /dev/null +++ b/src/lia3D.c @@ -0,0 +1,238 @@ +#include "m_pd.h"
+#include "math.h"
+
+static t_class *lia3D_class;
+
+typedef struct _lia3D {
+ t_object x_obj;
+ t_float raideur, viscosite, D2, longueur, distance_old;
+ t_float position3Dx1, position3Dx2, posx_old1, posx_old2;
+ t_float position3Dy1, position3Dy2, posy_old1, posy_old2;
+ t_float position3Dz1, position3Dz2, posz_old1, posz_old2;
+ t_float Lmin, Lmax, muscle;
+ t_outlet *force1;
+ t_outlet *force2;
+ t_symbol *x_sym; // receive
+} t_lia3D;
+
+void lia3D_position3D(t_lia3D *x, t_floatarg f1, t_floatarg f2, t_floatarg f3)
+{
+ x->position3Dx1 = f1;
+ x->position3Dy1 = f2;
+ x->position3Dz1 = f3;
+
+}
+
+void lia3D_position3D2(t_lia3D *x, t_floatarg f1, t_floatarg f2, t_floatarg f3)
+{
+ x->position3Dx2 = f1;
+ x->position3Dy2 = f2;
+ x->position3Dz2 = f3;
+}
+
+void lia3D_bang(t_lia3D *x)
+{
+ t_float force, force2, forcex1, forcey1, forcez1, forcex2, forcey2, forcez2, distance;
+ t_atom force1[3];
+
+ distance = sqrt ( pow((x->position3Dx2-x->position3Dx1), 2) + pow((x->position3Dy2-x->position3Dy1),2) + pow((x->position3Dz2-x->position3Dz1), 2) );
+
+ force = ( x->raideur*(distance-(x->longueur * x->muscle)) ) + ( x->viscosite*(distance-x->distance_old) );
+
+ if (distance > x->Lmax) force=0;
+ if (distance < x->Lmin) force=0;
+
+ if (distance != 0)
+ {
+ forcex1 = force * (x->position3Dx2 - x->position3Dx1) / distance;
+ forcey1 = force * (x->position3Dy2 - x->position3Dy1) / distance;
+ forcez1 = force * (x->position3Dz2 - x->position3Dz1) / distance;
+ }
+ else
+ {
+ forcex1 = 0;
+ forcey1 = 0;
+ forcez1 = 0;
+ }
+
+ forcex2 = -forcex1;
+ forcey2 = -forcey1;
+ forcez2 = -forcez1;
+
+ forcex1 += (x->posx_old1 - x->position3Dx1)*x->D2;
+ forcey1 += (x->posy_old1 - x->position3Dy1)*x->D2;
+ forcez1 += (x->posz_old1 - x->position3Dz1)*x->D2;
+
+ forcex2 += (x->posx_old2 - x->position3Dx2)*x->D2;
+ forcey2 += (x->posy_old2 - x->position3Dy2)*x->D2;
+ forcez2 += (x->posz_old2 - x->position3Dz2)*x->D2;
+
+
+ SETFLOAT(&(force1[0]), forcex1 );
+ SETFLOAT(&(force1[1]), forcey1 );
+ SETFLOAT(&(force1[2]), forcez1 );
+ outlet_anything(x->force1, gensym("force3D"), 3, force1);
+
+ SETFLOAT(&(force1[0]), forcex2 );
+ SETFLOAT(&(force1[1]), forcey2 );
+ SETFLOAT(&(force1[2]), forcez2 );
+
+ outlet_anything(x->force2, gensym("force3D"), 3, force1);
+
+ x->posx_old2 = x->position3Dx2;
+ x->posx_old1 = x->position3Dx1;
+
+ x->posy_old2 = x->position3Dy2;
+ x->posy_old1 = x->position3Dy1;
+
+ x->posz_old2 = x->position3Dz2;
+ x->posz_old1 = x->position3Dz1;
+
+ x->distance_old = distance;
+}
+
+void lia3D_reset(t_lia3D *x)
+{
+ x->position3Dx1 = 0;
+ x->position3Dx2 = 0;
+ x->posx_old1 = 0;
+ x->posx_old2 = 0;
+
+ x->position3Dy1 = 0;
+ x->position3Dy2 = 0;
+ x->posy_old1 = 0;
+ x->posy_old2 = 0;
+
+ x->position3Dz1 = 0;
+ x->position3Dz2 = 0;
+ x->posz_old1 = 0;
+ x->posz_old2 = 0;
+
+ x->distance_old = x->longueur;
+
+}
+
+void lia3D_resetF(t_lia3D *x)
+{
+
+ x->posx_old1 = x->position3Dx1;
+ x->posx_old2 = x->position3Dx2;
+
+ x->posy_old1 = x->position3Dy1;
+ x->posy_old2 = x->position3Dy2;
+
+ x->posz_old1 = x->position3Dz1;
+ x->posz_old2 = x->position3Dz2;
+
+ x->distance_old = x->longueur;
+
+}
+
+void lia3D_resetL(t_lia3D *x)
+{
+ x->longueur = sqrt ( pow((x->position3Dx2-x->position3Dx1), 2) + pow((x->position3Dy2-x->position3Dy1),2) + pow((x->position3Dz2-x->position3Dz1), 2) );
+}
+
+void lia3D_setK(t_lia3D *x, t_float K)
+{
+ x->raideur = K;
+}
+
+void lia3D_setL(t_lia3D *x, t_float L)
+{
+ x->longueur = L;
+}
+
+void lia3D_setD(t_lia3D *x, t_float D)
+{
+ x->viscosite = D;
+}
+
+void lia3D_setD2(t_lia3D *x, t_float D2)
+{
+ x->D2 = D2;
+}
+
+void lia3D_Lmin(t_lia3D *x, t_float Lmin)
+{
+ x->Lmin = Lmin;
+}
+
+void lia3D_Lmax(t_lia3D *x, t_float Lmax)
+{
+ x->Lmax = Lmax;
+}
+
+void lia3D_muscle(t_lia3D *x, t_float muscle)
+{
+ x->muscle = muscle;
+}
+
+static void lia3D_free(t_lia3D *x)
+{
+ pd_unbind(&x->x_obj.ob_pd, x->x_sym);
+}
+
+void *lia3D_new(t_symbol *s, t_floatarg l, t_floatarg K, t_floatarg D, t_floatarg D2)
+{
+
+ t_lia3D *x = (t_lia3D *)pd_new(lia3D_class);
+
+ x->x_sym = s;
+ pd_bind(&x->x_obj.ob_pd, s);
+
+ inlet_new(&x->x_obj, &x->x_obj.ob_pd, gensym("position3D"), gensym("position3D2"));
+
+ x->force1=outlet_new(&x->x_obj, 0);
+ x->force2=outlet_new(&x->x_obj, 0);
+
+ x->position3Dx1 = 0;
+ x->position3Dx2 = 0;
+ x->position3Dy1 = 0;
+ x->position3Dy2 = 0;
+ x->position3Dz1 = 0;
+ x->position3Dz2 = 0;
+
+ x->raideur = K;
+ x->viscosite = D;
+ x->longueur = l;
+
+ x->D2 = D2;
+
+ x->Lmin= 0;
+ x->Lmax= 10000;
+
+ x->distance_old = x->longueur;
+
+ x->muscle = 1;
+
+ return (void *)x;
+}
+
+void lia3D_setup(void)
+{
+
+ lia3D_class = class_new(gensym("lia3D"),
+ (t_newmethod)lia3D_new,
+ (t_method)lia3D_free,
+ sizeof(t_lia3D),
+ CLASS_DEFAULT, A_DEFSYM, A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, 0);
+
+ class_addcreator((t_newmethod)lia3D_new, gensym("link3D"), A_DEFSYM, A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, 0);
+ class_addcreator((t_newmethod)lia3D_new, gensym("pmpd.link3D"), A_DEFSYM, A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, 0);
+
+ class_addbang(lia3D_class, lia3D_bang);
+ class_addmethod(lia3D_class, (t_method)lia3D_reset, gensym("reset"), 0);
+ class_addmethod(lia3D_class, (t_method)lia3D_resetL, gensym("resetL"), 0);
+ class_addmethod(lia3D_class, (t_method)lia3D_resetF, gensym("resetF"), 0);
+ class_addmethod(lia3D_class, (t_method)lia3D_setD, gensym("setD"), A_DEFFLOAT, 0);
+ class_addmethod(lia3D_class, (t_method)lia3D_setD2, gensym("setD2"), A_DEFFLOAT, 0);
+ class_addmethod(lia3D_class, (t_method)lia3D_setK, gensym("setK"), A_DEFFLOAT, 0);
+ class_addmethod(lia3D_class, (t_method)lia3D_setL, gensym("setL"), A_DEFFLOAT, 0);
+ class_addmethod(lia3D_class, (t_method)lia3D_Lmin, gensym("setLmin"), A_DEFFLOAT, 0);
+ class_addmethod(lia3D_class, (t_method)lia3D_Lmax, gensym("setLmax"), A_DEFFLOAT, 0);
+ class_addmethod(lia3D_class, (t_method)lia3D_muscle, gensym("setM"), A_DEFFLOAT, 0);
+ class_addmethod(lia3D_class, (t_method)lia3D_position3D, gensym("position3D"), A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, 0);
+ class_addmethod(lia3D_class, (t_method)lia3D_position3D2, gensym("position3D2"), A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, 0);
+
+}
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