From c050bb9a7595860bf72e7c407ff3e8cbd7e77480 Mon Sep 17 00:00:00 2001
From: Cyrille Henry <nusmuk@users.sourceforge.net>
Date: Fri, 9 Apr 2004 16:55:47 +0000
Subject: This commit was generated by cvs2svn to compensate for changes in
 r1590, which included commits to RCS files with non-trunk default branches.

svn path=/trunk/externals/pmpd/; revision=1591
---
 src/masse3D.c | 1093 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 1093 insertions(+)
 create mode 100755 src/masse3D.c

(limited to 'src/masse3D.c')

diff --git a/src/masse3D.c b/src/masse3D.c
new file mode 100755
index 0000000..68dda3b
--- /dev/null
+++ b/src/masse3D.c
@@ -0,0 +1,1093 @@
+#include "m_pd.h"
+#include "math.h"
+
+static t_class *masse3D_class;
+
+extern t_float max(t_float, t_float);
+extern t_float min(t_float, t_float);
+
+
+typedef struct _masse3D {
+  t_object  x_obj;
+  t_float posX_old_1, posX_old_2, posY_old_1, posY_old_2, posZ_old_1, posZ_old_2;
+  t_float Xinit, Yinit, Zinit, forceX, forceY, forceZ, VX, VY, VZ, dX, dY, dZ;
+  t_float masse3D, seuil, onoff, damp;
+  t_atom  pos_new[3], vitesse[4], force[4];
+  t_float minX, maxX, minY, maxY, minZ, maxZ;
+  t_outlet *position3D_new, *vitesse_out, *force_out;
+  t_symbol *x_sym; // receive
+  unsigned int x_state; // random
+  t_float x_f; // random
+} t_masse3D;
+
+void masse3D_on(t_masse3D *x)
+{
+  x->onoff = 1;
+}
+
+void masse3D_off(t_masse3D *x)
+{
+  x->onoff = 0;
+}
+
+void masse3D_minX(t_masse3D *x, t_floatarg f1)
+{
+  x->minX = f1;
+}
+
+void masse3D_maxX(t_masse3D *x, t_floatarg f1)
+{
+  x->maxX = f1;
+}
+
+void masse3D_minY(t_masse3D *x, t_floatarg f1)
+{
+  x->minY = f1;
+}
+
+void masse3D_maxY(t_masse3D *x, t_floatarg f1)
+{
+  x->maxY = f1;
+}
+
+void masse3D_minZ(t_masse3D *x, t_floatarg f1)
+{
+  x->minZ = f1;
+}
+
+void masse3D_maxZ(t_masse3D *x, t_floatarg f1)
+{
+  x->maxZ = f1;
+}
+
+void masse3D_seuil(t_masse3D *x, t_floatarg f1)
+{
+  x->seuil = f1;
+}
+
+void masse3D_damp(t_masse3D *x, t_floatarg f1)
+{
+  x->damp = f1;
+}
+
+void masse3D_loadbang(t_masse3D *x, t_float posZ)
+{
+  outlet_anything(x->position3D_new, gensym("position3D"), 3, x->pos_new);
+}
+
+void masse3D_setX(t_masse3D *x, t_float posX)
+{
+  
+  x->posX_old_2 = posX;
+  x->posX_old_1 = posX;
+  x->forceX=0;
+
+  SETFLOAT(&(x->pos_new[0]), posX);
+
+  outlet_anything(x->position3D_new, gensym("position3D"), 3, x->pos_new);
+
+}
+
+void masse3D_setY(t_masse3D *x, t_float posY)
+{
+  x->posY_old_2 = posY;
+  x->posY_old_1 = posY;
+  x->forceY=0;
+
+  SETFLOAT(&(x->pos_new[1]), posY);
+
+  outlet_anything(x->position3D_new, gensym("position3D"), 3, x->pos_new);
+
+}
+
+void masse3D_setZ(t_masse3D *x, t_float posZ)
+{
+  x->posZ_old_2 = posZ;
+  x->posZ_old_1 = posZ;
+  x->forceZ=0;
+
+  SETFLOAT(&(x->pos_new[2]), posZ);
+
+  outlet_anything(x->position3D_new, gensym("position3D"), 3, x->pos_new);
+
+}
+
+void masse3D_setXYZ(t_masse3D *x, t_float posX, t_float posY, t_float posZ)
+{
+  
+  x->posX_old_2 = posX;
+  x->posX_old_1 = posX;
+  x->forceX=0;
+
+  x->posY_old_2 = posY;
+  x->posY_old_1 = posY;
+  x->forceY=0;
+
+  x->posZ_old_2 = posZ;
+  x->posZ_old_1 = posZ;
+  x->forceZ=0;
+
+  SETFLOAT(&(x->pos_new[0]), posX);
+  SETFLOAT(&(x->pos_new[1]), posY);
+  SETFLOAT(&(x->pos_new[2]), posZ);
+
+  outlet_anything(x->position3D_new, gensym("position3D"), 3, x->pos_new);
+}
+
+void masse3D_set_masse3D(t_masse3D *x, t_float mass)
+{
+  x->masse3D=mass;
+}
+
+
+void masse3D_force(t_masse3D *x, t_floatarg f1, t_floatarg f2, t_floatarg f3)
+{
+  x->forceX = x->forceX+f1;
+  x->forceY = x->forceY+f2;
+  x->forceZ = x->forceZ+f3;
+}
+
+void masse3D_dXYZ(t_masse3D *x, t_floatarg f1, t_floatarg f2, t_floatarg f3)
+{
+  x->dX += f1;
+  x->dY += f2;
+  x->dZ += f3;
+}
+
+void masse3D_dX(t_masse3D *x, t_floatarg f1 )
+{
+  x->dX += f1;
+}
+
+void masse3D_dY(t_masse3D *x, t_floatarg f1 )
+{
+  x->dY += f1;
+}
+
+void masse3D_dZ(t_masse3D *x, t_floatarg f1 )
+{
+  x->dZ += f1;
+}
+
+void masse3D_bang(t_masse3D *x)
+{
+  t_float posX_new, posY_new, posZ_new, vX=1, vY=1, vZ=1;
+ if (x->onoff != 0)
+ {
+
+  if (x->seuil > 0)
+  {
+  if (x->posZ_old_1 == x->minZ) // si on est en dehors de la structure -> frottement sec sur les bords
+  {
+	  if (sqrt(x->forceX*x->forceX + x->forceY*x->forceY)<=(x->seuil * -(x->forceZ)))
+	  {
+		  vX = 0;		// on est a l'interieur du cone de frotement,  
+		  vY = 0;		// on est a l'interieur du cone de frotement,  
+	  }
+  }
+
+  if (x->posZ_old_1 == x->maxZ) // si on est en dehors de la structure -> frottement sec sur les bords
+  {
+	  if (sqrt(x->forceX*x->forceX + x->forceY*x->forceY)<=(x->seuil * (x->forceZ)))
+ 	  {
+		  vX = 0;		// on est a l'interieur du cone de frotement,  
+ 		  vY = 0;		// on est a l'interieur du cone de frotement,  
+ 	  }
+  }
+ 
+  if (x->posY_old_1 == x->minY) // si on est en dehors de la structure -> frottement sec sur les bords
+  {
+	  if (sqrt(x->forceX*x->forceX + x->forceZ*x->forceZ)<=(x->seuil * -(x->forceY)))
+	  {
+		  vX = 0;		// on est a l'interieur du cone de frotement,  
+ 	      vZ = 0;		// on est a l'interieur du cone de frotement,  
+ 	  }
+  }
+
+  if (x->posY_old_1 == x->maxY) // si on est en dehors de la structure -> frottement sec sur les bords
+  {
+	  if (sqrt(x->forceX*x->forceX + x->forceZ*x->forceZ)<=(x->seuil * (x->forceY)))
+	  {
+		  vX = 0;		// on est a l'interieur du cone de frotement,  
+ 		  vZ = 0;		// on est a l'interieur du cone de frotement,  
+  	  }
+  }
+
+  if (x->posX_old_1 == x->minX) // si on est en dehors de la structure -> frottement sec sur les bords
+  {
+	  if (sqrt(x->forceY*x->forceY + x->forceZ*x->forceZ)<=(x->seuil * -(x->forceX)))
+	  {
+		  vY = 0;		// on est a l'interieur du cone de frotement,  
+ 		  vZ = 0;		// on est a l'interieur du cone de frotement,  
+  	  }
+  }
+
+  if (x->posX_old_1 == x->maxX) // si on est en dehors de la structure -> frottement sec sur les bords
+  {
+	  if (sqrt(x->forceY*x->forceY + x->forceZ*x->forceZ)<=(x->seuil * (x->forceX)))
+	  {
+		  vY = 0;		// on est a l'interieur du cone de frotement,  
+  		  vZ = 0;		// on est a l'interieur du cone de frotement,  
+ 	  }
+  }
+  }
+
+	x->forceX += x->damp * ((x->posX_old_2)-(x->posX_old_1));
+	x->forceY += x->damp * ((x->posY_old_2)-(x->posY_old_1)); // damping
+	x->forceZ += x->damp * ((x->posZ_old_2)-(x->posZ_old_1)); // damping
+
+  if (!(x->masse3D == 0))
+  {
+  posX_new = x->forceX/x->masse3D + 2*x->posX_old_1 - x->posX_old_2;
+  posY_new = x->forceY/x->masse3D + 2*x->posY_old_1 - x->posY_old_2;
+  posZ_new = x->forceZ/x->masse3D + 2*x->posZ_old_1 - x->posZ_old_2;
+  }
+  else 
+  {
+  posX_new = x->posX_old_1;
+  posY_new = x->posY_old_1;
+  posZ_new = x->posY_old_1;
+  }
+
+ 
+	  if (vX==0)
+	    posX_new = x->posX_old_1; // on n'a pas de mv qd on est a l'interieur du cone de frotement
+	  if (vY==0)
+	    posY_new = x->posY_old_1;
+	  if (vZ==0)
+	    posZ_new = x->posZ_old_1;
+
+	  posX_new = max(min(x->maxX, posX_new), x->minX);
+	  posY_new = max(min(x->maxY, posY_new), x->minY);
+	  posZ_new = max(min(x->maxZ, posZ_new), x->minZ);
+
+
+  posX_new += x->dX;
+  posY_new += x->dY;
+  posZ_new += x->dZ;
+
+  x->posX_old_1 += x->dX;
+  x->posY_old_1 += x->dY;
+  x->posZ_old_1 += x->dZ;
+	
+  SETFLOAT(&(x->pos_new[0]), posX_new );
+  SETFLOAT(&(x->pos_new[1]), posY_new );
+  SETFLOAT(&(x->pos_new[2]), posZ_new );
+
+  x->posX_old_2 = x->posX_old_1;
+  x->posX_old_1 = posX_new;
+
+  x->posY_old_2 = x->posY_old_1;
+  x->posY_old_1 = posY_new;
+
+  x->posZ_old_2 = x->posZ_old_1;
+  x->posZ_old_1 = posZ_new;
+
+  SETFLOAT(&(x->force[0]), x->forceX );
+  SETFLOAT(&(x->force[1]), x->forceY );
+  SETFLOAT(&(x->force[2]), x->forceZ );
+  SETFLOAT(&(x->force[3]), sqrt( (x->forceX * x->forceX) + (x->forceY * x->forceY) + (x->forceZ * x->forceZ) ));
+ 
+  x->forceX=0;
+  x->forceY=0;
+  x->forceZ=0;
+
+  x->dX=0;
+  x->dY=0;
+  x->dZ=0;
+
+  x->VX =  x->posX_old_1 -  x->posX_old_2;
+  x->VY =  x->posY_old_1 -  x->posY_old_2;
+  x->VZ =  x->posZ_old_1 -  x->posZ_old_2;
+  
+  SETFLOAT(&(x->vitesse[0]), x->VX );
+  SETFLOAT(&(x->vitesse[1]), x->VY );
+  SETFLOAT(&(x->vitesse[2]), x->VZ );
+  SETFLOAT(&(x->vitesse[3]), sqrt( (x->VX * x->VX) + (x->VY * x->VY) + (x->VZ * x->VZ) ));
+ 
+  outlet_anything(x->vitesse_out, gensym("velocity3D"), 4, x->vitesse);
+  outlet_anything(x->force_out, gensym("force3D"), 4, x->force);
+  outlet_anything(x->position3D_new, gensym("position3D"), 3, x->pos_new);
+ }
+}
+
+void masse3D_reset(t_masse3D *x)
+{
+  
+  x->posX_old_2 = x->Xinit;
+  x->posX_old_1 = x->Xinit;
+  x->forceX=0;
+
+  x->posY_old_2 = x->Yinit;
+  x->posY_old_1 = x->Yinit;
+  x->forceY=0;
+
+  x->posZ_old_2 = x->Zinit;
+  x->posZ_old_1 = x->Zinit;
+  x->forceZ=0;
+
+  x->VX = 0;
+  x->VY = 0;
+  x->VZ = 0;
+
+  x->dX=0;
+  x->dY=0;
+  x->dZ=0;
+
+  x->seuil=0;
+
+  x->onoff = 1;
+
+  SETFLOAT(&(x->pos_new[0]), x->Xinit );
+  SETFLOAT(&(x->pos_new[1]), x->Yinit );
+  SETFLOAT(&(x->pos_new[2]), x->Zinit );
+
+  SETFLOAT(&(x->force[0]), 0 );
+  SETFLOAT(&(x->force[1]), 0 );
+  SETFLOAT(&(x->force[2]), 0 );
+  SETFLOAT(&(x->force[3]), 0 );
+ 
+  SETFLOAT(&(x->vitesse[0]), 0 );
+  SETFLOAT(&(x->vitesse[1]), 0 );
+  SETFLOAT(&(x->vitesse[2]), 0 );
+  SETFLOAT(&(x->vitesse[3]), 0 );
+
+  outlet_anything(x->vitesse_out, gensym("velocity3D"), 4, x->vitesse);
+  outlet_anything(x->force_out, gensym("force3D"), 4, x->force); 
+  outlet_anything(x->position3D_new, gensym("position3D"), 3, x->pos_new);
+
+}
+
+
+void masse3D_resetf(t_masse3D *x)
+{
+  x->forceX=0;
+  x->forceY=0;
+  x->forceZ=0;
+
+  x->dX=0;
+  x->dY=0;
+  x->dZ=0;
+}
+
+static int makeseed3D(void)
+{
+    static unsigned int random_nextseed = 1489853723;
+    random_nextseed = random_nextseed * 435898247 + 938284287;
+    return (random_nextseed & 0x7fffffff);
+}
+
+static float random_bang3D(t_masse3D *x)
+{
+    int nval;
+    int range = 2000000;
+	float rnd;
+	unsigned int randval = x->x_state;
+	x->x_state = randval = randval * 472940017 + 832416023;
+    nval = ((double)range) * ((double)randval)
+    	* (1./4294967296.);
+    if (nval >= range) nval = range-1;
+
+	rnd=nval;
+
+	rnd-=1000000;
+	rnd=rnd/1000000.;	//pour mettre entre -1 et 1;
+    return (rnd);
+}
+
+
+void masse3D_inter_ambient(t_masse3D *x, t_symbol *s, int argc, t_atom *argv)
+{
+	t_float tmp;
+
+	if (argc == 17) 
+		// 0 : FX
+		// 1 : FY
+		// 2 : FZ
+		// 3 : RndX
+		// 4 : RndY
+		// 5 : RndZ
+		// 6 : D2
+		// 7 : rien
+		// 8 : Xmin
+		// 9 : Xmax
+		// 10 : Ymin
+		// 11 : Ymax
+		// 12 : Zmin
+		// 13 : Zmax
+		// 14 : dX
+		// 15 : dY
+		// 16 : dZ
+	{
+		if (x->posX_old_1 > atom_getfloatarg(8, argc, argv))
+		{
+			if (x->posX_old_1 < atom_getfloatarg(9, argc, argv))
+			{
+				if (x->posY_old_1 > atom_getfloatarg(10, argc, argv))
+				{
+					if (x->posY_old_1 < atom_getfloatarg(11, argc, argv))
+					{
+					if (x->posZ_old_1 > atom_getfloatarg(12, argc, argv))
+					{
+					if (x->posZ_old_1 < atom_getfloatarg(13, argc, argv))
+					{
+						x->forceX += atom_getfloatarg(0, argc, argv);
+						x->forceY += atom_getfloatarg(1, argc, argv); // constant
+						x->forceZ += atom_getfloatarg(2, argc, argv); // constant
+
+						x->forceX += random_bang3D(x)*atom_getfloatarg(3, argc, argv);
+						x->forceY += random_bang3D(x)*atom_getfloatarg(4, argc, argv); // random
+						x->forceZ += random_bang3D(x)*atom_getfloatarg(5, argc, argv); // random
+	
+						tmp = atom_getfloatarg(6, argc, argv);
+						if (tmp != 0)
+						{
+							x->forceX += tmp * ((x->posX_old_2)-(x->posX_old_1));
+							x->forceY += tmp * ((x->posY_old_2)-(x->posY_old_1)); // damping
+							x->forceZ += tmp * ((x->posZ_old_2)-(x->posZ_old_1)); // damping
+						}
+
+						x->dX += atom_getfloatarg(14, argc, argv);
+						x->dY += atom_getfloatarg(15, argc, argv); // constant
+						x->dZ += atom_getfloatarg(16, argc, argv); // constant
+					}
+					}
+					}
+				}
+			}
+		}
+	}
+	else
+	{
+		error("bad ambient interraction message");
+	}
+}
+
+void masse3D_inter_plane(t_masse3D *x, t_symbol *s, int argc, t_atom *argv)
+{
+	t_float a, b, c, d, profondeur, distance, tmp, profondeur_old;
+
+	if (argc == 12) 
+		// 0 : Xvector
+		// 1 : Yvector
+		// 2 : Zvector
+		// 3 : Xcenter
+		// 4 : Ycenter
+		// 5 : Zcenter
+		// 6 : FNCt
+		// 7 : KN
+		// 8 : damping de liaison (profondeur)
+		// 9 : Profondeur maximum
+		// 10 : deplacement normal X
+		// 11 : deplacement proportionel a P
+
+	{
+
+// ax+by+cz-d=0
+// a = Xvector / |V|
+// b = Yvector ...
+// d est tel que aXcenter +bYcenter + cYcenter = d
+
+		a = atom_getfloatarg(0, argc, argv);
+		b = atom_getfloatarg(1, argc, argv);
+		c = atom_getfloatarg(2, argc, argv);
+
+		tmp = sqrt (a*a + b*b + c*c);
+	if (tmp != 0)
+	{
+		a /= tmp;
+		b /= tmp;
+		c /= tmp;
+
+	}
+	else
+	{
+		a=1;
+		b=0;
+		c=0;
+	}
+
+		d = a * atom_getfloatarg(3, argc, argv) + b * atom_getfloatarg(4, argc, argv) + c * atom_getfloatarg(5, argc, argv);
+//C a optimiser : envoyer  directement les coef directeur et l'offset
+//C a faire pour les autres obj aussi
+		
+		profondeur = a * x->posX_old_1 + b * x->posY_old_1 + c * x->posZ_old_1 - d;
+
+		if ( (profondeur < 0) & (profondeur > -atom_getfloatarg(9, argc, argv)) )
+		{
+
+			tmp = atom_getfloatarg(6, argc, argv); // force normal constante
+
+			x->forceX += tmp * a;
+			x->forceY += tmp * b;
+			x->forceZ += tmp * c;
+	
+			tmp = atom_getfloatarg(7, argc, argv); // force normal proportionelle a la profondeur
+			tmp *= profondeur;
+			x->forceX -= tmp * a;
+			x->forceY -= tmp * b;
+			x->forceZ -= tmp * c;
+
+			tmp = atom_getfloatarg(8, argc, argv); // force normal proportionelle a la profondeur
+
+			profondeur_old = a * x->posX_old_2 + b * x->posY_old_2 + c * x->posZ_old_2 - d;		
+			tmp *= (profondeur - profondeur_old);
+			x->forceX -= tmp * a;
+			x->forceY -= tmp * b;
+			x->forceZ -= tmp * c;
+
+			
+			tmp = atom_getfloatarg(10, argc, argv); // deplacement normal constant
+
+			x->dX += tmp * a;
+			x->dY += tmp * b;
+			x->dZ += tmp * c;
+
+			tmp = atom_getfloatarg(11, argc, argv); // deplacement normal proportionel
+			tmp *= profondeur;
+
+			x->dX -= tmp * a;
+			x->dY -= tmp * b;
+			x->dZ -= tmp * c;
+		}
+
+	}	
+	else
+	{
+		error("bad plane interraction message");
+	}
+}
+
+
+void masse3D_inter_sphere(t_masse3D *x, t_symbol *s, int argc, t_atom *argv)
+{
+t_float posx1, posy1, posz1, Nx, Ny, Nz, dx, dy, dz, distance, Dmax, tmp;
+t_float deltaX_old, deltaY_old, deltaZ_old, distance_old ;
+
+	if (argc == 17) 
+		// 0 : Xcentre
+		// 1 : Ycendre
+		// 2 : Zcentre
+		// 3 : Rmin
+		// 4 : Rmax
+		// 5 : F normal
+		// 6 : K normal
+		// 7 : F normal proportionel a 1/R
+		// 8 : Damp de liason normal 
+		// 9 : deplacement N Ct
+		// 10 : position ancienne de l'interacteur en X
+		// 11 : position abcienne de l'interacteur en Y
+		// 12 : position abcienne de l'interacteur en Z
+		// 13 : d dormal proportionel a R
+		// 14 : force normal proportionel a 1/R2
+		// 15 : d dormal proportionel a 1/R
+		// 16 : d dormal proportionel a 1/R*R
+
+	{
+		posx1 = atom_getfloatarg(0, argc, argv);
+		posy1 = atom_getfloatarg(1, argc, argv);
+		posz1 = atom_getfloatarg(2, argc, argv);
+		Nx = (x->posX_old_1)-posx1;					// vecteur deplacement X
+		Ny = (x->posY_old_1)-posy1;					// vecteur deplacement Y
+		Nz = (x->posZ_old_1)-posz1;					// vecteur deplacement Y
+
+		distance = sqrt((Nx * Nx)+(Ny * Ny)+(Nz * Nz));		// distance entre le centre de l'interaction, et le pts
+
+		Nx = Nx/distance;							// composante X de la normal (normalisé)
+		Ny = Ny/distance;							// composante Y de la normal.
+		Nz = Nz/distance;							// composante Y de la normal.
+
+		Dmax= atom_getfloatarg(4, argc, argv);		// distance max de l'interaction
+		if ( (distance > atom_getfloatarg(3, argc, argv)) & (distance < Dmax) )
+		{
+			tmp = atom_getfloatarg(5, argc, argv); // force constante normal
+			x->forceX += tmp * Nx;
+			x->forceY += tmp * Ny;
+			x->forceZ += tmp * Nz;
+
+			tmp = atom_getfloatarg(6, argc, argv); // force variable (K) normal
+			tmp *= ( Dmax-distance );
+			x->forceX += tmp * Nx ;
+			x->forceY += tmp * Ny ;
+			x->forceZ += tmp * Nz ;
+
+		    tmp = atom_getfloatarg(7, argc, argv); // force normal proportionel a 1/r
+			if ( (distance != 0) & (tmp != 0) )
+			{
+				tmp /= distance;
+				x->forceX += tmp * Nx;
+				x->forceY += tmp * Ny;
+				x->forceZ += tmp * Nz ;
+			}
+
+			tmp = atom_getfloatarg(8, argc, argv); // damping2 normal
+			tmp *= ( x->VX * Nx + x->VY * Ny + x->VZ * Nz );
+			x->forceX -= tmp * Nx ;
+			x->forceY -= tmp * Ny ;
+			x->forceZ -= tmp * Nz ;
+
+			tmp = atom_getfloatarg(9, argc, argv); // d normal
+			x->dX += tmp * Nx ;
+			x->dY += tmp * Ny ;
+			x->dZ += tmp * Nz ;
+
+			tmp = atom_getfloatarg(13, argc, argv); // force normal proportionel a 1/r2
+			if ( (distance != 0) & (tmp != 0) )
+			{
+				tmp /= (distance * distance);
+				x->forceX += tmp * Nx ;
+				x->forceY += tmp * Ny ;
+				x->forceZ += tmp * Nz ;
+			}
+
+			tmp = atom_getfloatarg(14, argc, argv); // deplacement variable (K) normal
+			tmp *= ( Dmax-distance );
+			x->dX += tmp * Nx ;
+			x->dY += tmp * Ny ;
+			x->dZ += tmp * Nz ;
+
+			tmp = atom_getfloatarg(15, argc, argv); // deplacement normal proportionel a 1/r
+			if ( (distance != 0) & (tmp != 0) )
+			{
+				tmp /= distance;
+			    x->dX += tmp * Nx ;
+			    x->dY += tmp * Ny ;
+			    x->dZ += tmp * Nz ;
+			}
+
+			tmp = atom_getfloatarg(16, argc, argv); // deplacement normal proportionel a 1/r2
+			if ( (distance != 0) & (tmp != 0) )
+			{
+				tmp /= (distance * distance);
+			    x->dX += tmp * Nx;
+			    x->dY += tmp * Ny;
+			    x->dZ += tmp * Nz;
+			}
+
+		}
+	}
+	else
+	{
+		error("bad interact_3D_sphere message");
+	}
+}
+
+
+void masse3D_inter_circle(t_masse3D *x, t_symbol *s, int argc, t_atom *argv)
+{
+	t_float a, b, c, d, profondeur, distance, tmp, profondeur_old, rayon, rayon_old;
+
+	if (argc == 14) 
+		// 0 : Xvector
+		// 1 : Yvector
+		// 2 : Zvector
+		// 3 : Xcenter
+		// 4 : Ycenter
+		// 5 : Zcenter
+		// 6 : Rmin
+		// 7 : RMax
+		// 8 : FNCt
+		// 9 : KN
+		// 10 : damping de liaison (profondeur)
+		// 11 : Profondeur maximum
+		// 12 : dN
+		// 13 : dKN
+
+	{
+// ax+by+cz-d=0
+// a = Xvector / |V|
+// b = Yvector ...
+// d est tel que aXcenter +bYcenter + cYcenter = d
+
+		a = atom_getfloatarg(0, argc, argv);
+		b = atom_getfloatarg(1, argc, argv);
+		c = atom_getfloatarg(2, argc, argv);
+
+		tmp = sqrt (a*a + b*b + c*c);
+	if (tmp != 0)
+	{
+		a /= tmp;
+		b /= tmp;
+		c /= tmp;
+	}
+	else
+	{
+		a=1;
+		b=0;
+		c=0;
+	}
+
+		d = a * atom_getfloatarg(3, argc, argv) + b * atom_getfloatarg(4, argc, argv) + c * atom_getfloatarg(5, argc, argv);
+
+		profondeur = a * x->posX_old_1 + b * x->posY_old_1 + c * x->posZ_old_1 - d;
+
+		rayon = sqrt ( pow(x->posX_old_1-atom_getfloatarg(3, argc, argv), 2) +pow(x->posY_old_1-atom_getfloatarg(4, argc, argv) , 2)  + pow(x->posZ_old_1 - atom_getfloatarg(5, argc, argv) , 2) - profondeur*profondeur );
+
+		if ( (profondeur < 0) & (profondeur > - atom_getfloatarg(11, argc, argv)) & (rayon > atom_getfloatarg(6, argc, argv)) & (rayon < atom_getfloatarg(7, argc, argv)))
+		{
+
+			tmp = atom_getfloatarg(8, argc, argv); // force normal constante
+
+			x->forceX += tmp * a;
+			x->forceY += tmp * b;
+			x->forceZ += tmp * c;
+	
+			tmp = atom_getfloatarg(9, argc, argv); // force normal proportionelle a la profondeur
+			tmp *= profondeur;
+			x->forceX -= tmp * a;
+			x->forceY -= tmp * b;
+			x->forceZ -= tmp * c;
+
+			tmp = atom_getfloatarg(10, argc, argv); // force normal proportionelle a la profondeur
+
+			profondeur_old = a * x->posX_old_2 + b * x->posY_old_2 + c * x->posZ_old_2 - d;		
+			tmp *= (profondeur - profondeur_old);
+
+			x->forceX -= tmp * a;
+			x->forceY -= tmp * b;
+			x->forceZ -= tmp * c;
+
+			tmp = atom_getfloatarg(12, argc, argv); // deplacement normal constante
+			x->dX += tmp * a;
+			x->dY += tmp * b;
+			x->dZ += tmp * c;
+	
+			tmp = atom_getfloatarg(13, argc, argv); // deplacement normal proportionelle a la profondeur
+			tmp *= profondeur;
+			x->dX -= tmp * a;
+			x->dY -= tmp * b;
+			x->dZ -= tmp * c;
+		}
+	}	
+	else
+	{
+		error("bad circle interraction message");
+	}
+}
+
+
+void masse3D_inter_cylinder(t_masse3D *x, t_symbol *s, int argc, t_atom *argv)
+{
+	t_float a, b, c, d, profondeur, profondeur_old, distance, tmp, rayon_old, rayon;
+	t_float Xb, Yb, Zb, Ta, Tb, Tc, Xb_old, Yb_old, Zb_old;
+
+	if (argc == 21) 
+		// 0 : Xvector
+		// 1 : Yvector
+		// 2 : Zvector
+		// 3 : Xcenter
+		// 4 : Ycenter
+		// 5 : Zcenter
+		// 6 : Rmin
+		// 7 : Rmax
+		// 8 : FNCt
+		// 9 : KN
+		// 10 : damping de liaison (rayon)
+		// 11 : FN 1/R
+		// 12 : FN 1/R2
+		// 13 : Pmin
+		// 14 : Pmax
+		// 15 : FTct
+		// 16 : KT
+		// 17 : dNct
+		// 18 : dTct
+		// 19 : dKN
+		// 20 : dKT
+
+	{
+
+// ax+by+cz-d=0
+// a = Xvector / |V|
+// b = Yvector ...
+// d est tel que aXcenter +bYcenter + cYcenter = d
+
+		a = atom_getfloatarg(0, argc, argv);
+		b = atom_getfloatarg(1, argc, argv);
+		c = atom_getfloatarg(2, argc, argv);
+
+		tmp = sqrt (a*a + b*b + c*c);
+	if (tmp != 0)
+	{
+		a /= tmp;
+		b /= tmp;
+		c /= tmp;
+	}
+	else
+	{
+		a=1;
+		b=0;
+		c=0;
+	}
+
+		d = a * atom_getfloatarg(3, argc, argv) + b * atom_getfloatarg(4, argc, argv) + c * atom_getfloatarg(5, argc, argv);
+
+		profondeur = a * x->posX_old_1 + b * x->posY_old_1 + c * x->posZ_old_1 - d;
+
+		Xb = x->posX_old_1 - atom_getfloatarg(3, argc, argv) - profondeur * a;
+		Yb = x->posY_old_1 - atom_getfloatarg(4, argc, argv) - profondeur * b;
+		Zb = x->posZ_old_1 - atom_getfloatarg(5, argc, argv) - profondeur * c;
+
+		rayon = sqrt ( pow(Xb, 2) + pow(Yb, 2)  + pow(Zb, 2) );
+
+		if (rayon != 0)
+		{
+			Xb /= rayon;  // normalisation
+			Yb /= rayon;
+			Zb /= rayon;
+		}
+		else
+		{
+			Xb = 0;  // normalisation
+			Yb = 0;
+			Zb = 0;
+		}
+
+
+		Ta = b*Zb - c*Yb; // vecteur tengentiel = vecteur vectoriel rayon
+		Tb = c*Xb - a*Zb;
+		Tc = a*Yb - b*Xb;
+		
+		if ( (profondeur < atom_getfloatarg(14, argc, argv)) & (profondeur > atom_getfloatarg(13, argc, argv)) & (rayon < atom_getfloatarg(7, argc, argv)) & (rayon > atom_getfloatarg(6, argc, argv)) )
+		{
+
+			tmp = atom_getfloatarg(8, argc, argv); // force normal constante
+
+			x->forceX += tmp * Xb;
+			x->forceY += tmp * Yb;
+			x->forceZ += tmp * Zb;
+	
+			tmp = atom_getfloatarg(9, argc, argv); // rigidité normal proportionelle
+			tmp *= ( atom_getfloatarg(7, argc, argv) - rayon ) ;
+			x->forceX += tmp * Xb;
+			x->forceY += tmp * Yb;
+			x->forceZ += tmp * Zb;
+						
+			tmp = atom_getfloatarg(10, argc, argv); // damping normal proportionelle a la profondeur
+
+			profondeur_old = a * x->posX_old_2 + b * x->posY_old_2 + c * x->posZ_old_2 - d;
+
+			Xb_old = x->posX_old_2 - atom_getfloatarg(3, argc, argv) - profondeur_old * a;
+			Yb_old = x->posY_old_2 - atom_getfloatarg(4, argc, argv) - profondeur_old * b;
+			Zb_old = x->posZ_old_2 - atom_getfloatarg(5, argc, argv) - profondeur_old * c;
+
+			rayon_old = sqrt ( pow(Xb_old, 2) + pow(Yb_old, 2)  + pow(Zb_old, 2) );		
+
+			tmp *= (rayon - rayon_old);
+
+			x->forceX -= tmp * Xb;
+			x->forceY -= tmp * Yb;
+			x->forceZ -= tmp * Zb;
+
+			tmp = atom_getfloatarg(11, argc, argv); // force normal proportionne a 1/R
+			if (rayon != 0)
+			{	
+				tmp /= rayon;
+			    x->forceX += tmp * Xb;
+				x->forceY += tmp * Yb;
+				x->forceZ += tmp * Zb;
+			}
+
+			tmp = atom_getfloatarg(12, argc, argv); // force normal proportionne a 1/R*R
+			if (rayon != 0)
+			{	
+				tmp /= (rayon*rayon);
+			    x->forceX += tmp * Xb;
+				x->forceY += tmp * Yb;
+				x->forceZ += tmp * Zb;
+			}
+
+			tmp = atom_getfloatarg(15, argc, argv); // force tengente constante
+			x->forceX -= tmp * Ta;
+			x->forceY -= tmp * Tb;
+			x->forceZ -= tmp * Tc;
+
+			tmp = atom_getfloatarg(16, argc, argv); // rigidité tengentiel proportionelle
+			tmp *= ( atom_getfloatarg(7, argc, argv) - rayon ) ;
+			x->forceX += tmp * Ta;
+			x->forceY += tmp * Tb;
+			x->forceZ += tmp * Tc;
+
+			tmp = atom_getfloatarg(17, argc, argv); // deplacement normal constante
+
+			x->dX += tmp * Xb;
+			x->dY += tmp * Yb;
+			x->dZ += tmp * Zb;
+	
+			tmp = atom_getfloatarg(19, argc, argv); // deplacement normal proportionelle
+			tmp *= ( atom_getfloatarg(7, argc, argv) - rayon ) ;
+			x->dX += tmp * Xb;
+			x->dY += tmp * Yb;
+			x->dZ += tmp * Zb;
+
+			tmp = atom_getfloatarg(18, argc, argv); // deplacement tengente constante
+			x->dX += tmp * Ta;
+			x->dY += tmp * Tb;
+			x->dZ += tmp * Tc;
+
+			tmp = atom_getfloatarg(20, argc, argv); // deplacement tengentiel proportionelle
+			tmp *= ( atom_getfloatarg(7, argc, argv) - rayon ) ;
+			x->dX += tmp * Ta;
+			x->dY += tmp * Tb;
+			x->dZ += tmp * Tc;
+		}
+	}	
+	else
+	{
+		error("bad cylinder interraction message");
+	}
+}
+
+void *masse3D_new(t_symbol *s, int argc, t_atom *argv)
+{
+  t_masse3D *x = (t_masse3D *)pd_new(masse3D_class);
+
+  x->x_sym = atom_getsymbolarg(0, argc, argv);
+  x->x_state = makeseed();
+
+  pd_bind(&x->x_obj.ob_pd, atom_getsymbolarg(0, argc, argv));
+
+  x->position3D_new=outlet_new(&x->x_obj, 0);
+  x->force_out=outlet_new(&x->x_obj, 0);
+  x->vitesse_out=outlet_new(&x->x_obj, 0);
+
+  x->forceX=0;
+  x->forceY=0;
+  x->forceZ=0;
+
+  if (argc >= 2)
+    x->masse3D = atom_getfloatarg(1, argc, argv) ;
+  else
+    x->masse3D = 1;
+
+  x->onoff = 1;
+
+  x->VX = 0;
+  x->VY = 0;
+  x->VZ = 0;
+
+  x->dX=0;
+  x->dY=0;
+  x->dZ=0;
+
+   if (argc >= 3)
+		x->Xinit = atom_getfloatarg(2, argc, argv);
+	else
+		x->Xinit = 0 ;
+
+	x->posX_old_1 = x->Xinit ;
+	x->posX_old_2 = x->Xinit;
+	SETFLOAT(&(x->pos_new[0]),  x->Xinit);
+
+	if (argc >= 4)
+		x->Yinit = atom_getfloatarg(3, argc, argv);
+	else
+		x->Yinit = 0 ;
+
+	x->posY_old_1 = x->Yinit ;
+	x->posY_old_2 = x->Yinit;
+	SETFLOAT(&(x->pos_new[1]),  x->Yinit);
+
+	if (argc >= 5)
+		x->Zinit = atom_getfloatarg(4, argc, argv);
+	else
+		x->Zinit = 0 ;
+
+	x->posZ_old_1 = x->Zinit ;
+	x->posZ_old_2 = x->Zinit;
+	SETFLOAT(&(x->pos_new[2]),  x->Zinit);
+
+
+	  if (argc >= 6)
+		x->minX = atom_getfloatarg(5, argc, argv) ;
+	  else 
+		x->minX = -100000;
+
+	  if (argc >= 7)
+		x->maxX = atom_getfloatarg(6, argc, argv) ;
+	  else 
+		x->maxX = 100000;
+	
+	  if (argc >= 8)
+		x->minY = atom_getfloatarg(7, argc, argv) ;
+	  else 
+		x->minY = -100000;
+
+	  if (argc >= 9)
+		x->maxY = atom_getfloatarg(8, argc, argv) ;
+	  else 
+		x->maxY = 100000;
+
+	  if (argc >= 10)
+		x->minZ = atom_getfloatarg(9, argc, argv) ;
+	  else 
+		x->minZ = -100000;
+
+	  if (argc >= 11)
+		x->maxZ = atom_getfloatarg(10, argc, argv) ;
+	  else 
+		x->maxZ = 100000;
+
+	  if (argc >= 12)
+		x->seuil = atom_getfloatarg(11, argc, argv) ;
+	  else 
+		x->seuil = 0;
+
+	  if (argc >= 13)
+		x->damp = atom_getfloatarg(12, argc, argv) ;
+	  else 
+		x->damp = 0;
+
+  return (void *)x;
+}
+
+static void masse3D_free(t_masse3D *x)
+{
+    pd_unbind(&x->x_obj.ob_pd, x->x_sym);
+}
+
+
+void masse3D_setup(void) 
+{
+
+  masse3D_class = class_new(gensym("masse3D"),
+        (t_newmethod)masse3D_new,
+        (t_method)masse3D_free,
+		sizeof(t_masse3D),
+        CLASS_DEFAULT, A_GIMME, 0);
+
+  class_addcreator((t_newmethod)masse3D_new, gensym("mass3D"), A_GIMME, 0);
+  class_addcreator((t_newmethod)masse3D_new, gensym("pmpd.mass3D"), A_GIMME, 0);
+
+  class_addmethod(masse3D_class, (t_method)masse3D_force, gensym("force3D"),A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, 0);
+  class_addbang(masse3D_class, masse3D_bang);
+
+  class_addmethod(masse3D_class, (t_method)masse3D_dX, gensym("dX"), A_DEFFLOAT, 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_dY, gensym("dY"), A_DEFFLOAT, 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_dZ, gensym("dZ"), A_DEFFLOAT, 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_dXYZ, gensym("dXYZ"), A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_setX, gensym("setX"), A_DEFFLOAT, 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_setY, gensym("setY"), A_DEFFLOAT, 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_setZ, gensym("setZ"), A_DEFFLOAT, 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_setXYZ, gensym("setXYZ"), A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_minX, gensym("setXmin"), A_DEFFLOAT, 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_minY, gensym("setYmin"), A_DEFFLOAT, 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_maxX, gensym("setXmax"), A_DEFFLOAT, 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_maxY, gensym("setYmax"), A_DEFFLOAT, 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_minZ, gensym("setZmin"), A_DEFFLOAT, 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_maxZ, gensym("setZmax"), A_DEFFLOAT, 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_set_masse3D, gensym("setM"), A_DEFFLOAT, 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_reset, gensym("reset"), 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_resetf, gensym("resetF"), 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_reset, gensym("loadbang"), 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_on, gensym("on"), 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_off, gensym("off"), 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_seuil, gensym("setT"), A_DEFFLOAT, 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_damp, gensym("setD"), A_DEFFLOAT, 0);
+
+  class_addmethod(masse3D_class, (t_method)masse3D_inter_ambient, gensym("interactor_ambient_3D"), A_GIMME, 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_inter_sphere, gensym("interactor_sphere_3D"), A_GIMME, 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_inter_plane, gensym("interactor_plane_3D"), A_GIMME, 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_inter_circle, gensym("interactor_circle_3D"), A_GIMME, 0);
+  class_addmethod(masse3D_class, (t_method)masse3D_inter_cylinder, gensym("interactor_cylinder_3D"), A_GIMME, 0);
+
+}
-- 
cgit v1.2.1