/*
-------------------------- pmpd3d ----------------------------------------
pmpd = physical modeling for pure data
Written by Cyrille Henry (ch@chnry.net)
Get sources on pd svn on sourceforge.
This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 2
of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see .
Based on PureData by Miller Puckette and others.
----------------------------------------------------------------------------
*/
#include "m_pd.h"
#include "stdio.h"
#include "math.h"
#define nb_max_link 100000
#define nb_max_mass 100000
#define max(a,b) ( ((a) > (b)) ? (a) : (b) )
#define min(a,b) ( ((a) < (b)) ? (a) : (b) )
t_float sign_ch(t_float v)
{
return v > 0 ? 1 : -1;
}
t_float sqr(t_float x)
{
return x*x ;
}
t_float pow_ch(t_float x, t_float y)
{
return x > 0 ? pow(x,y) : -pow(-x,y);
}
t_float mix(t_float X, t_float Y, t_float mix)
{
return (1-mix)*X + mix*Y ;
}
static t_class *pmpd3d_class;
typedef struct _mass {
t_symbol *Id;
int mobile;
t_float invM;
t_float speedX;
t_float speedY;
t_float speedZ;
t_float posX;
t_float posY;
t_float posZ;
t_float forceX;
t_float forceY;
t_float forceZ;
t_float D2;
t_float D2offset;
int num;
} foo;
typedef struct _link {
t_symbol *Id;
int lType;
struct _mass *mass1;
struct _mass *mass2;
t_int active;
t_float K;
t_float D;
t_float L;
t_float Pow;
t_float Lmin;
t_float Lmax;
t_float distance;
t_float VX; // vecteur portant la liaison, si c'est le cas
t_float VY;
t_float VZ;
t_symbol *arrayK;
t_symbol *arrayD;
t_float K_L; // longeur du tabeau K
t_float D_L; // longeur du tabeau D
} foo1 ;
typedef struct _pmpd3d {
t_object x_obj;
struct _link link[nb_max_link];
struct _mass mass[nb_max_mass];
t_outlet *main_outlet;
t_outlet *info_outlet;
int nb_link;
int nb_mass;
t_float minX, maxX, minY, maxY, minZ, maxZ;
t_int grab; // si on grab une mass ou pas
t_int grab_nb; // la masse grabé
} t_pmpd3d;
t_float tabread2(t_pmpd3d *x, t_float pos, t_symbol *array)
{
t_garray *a;
int npoints;
t_word *vec;
t_float posx;
if (!(a = (t_garray *)pd_findbyclass(array, garray_class)))
pd_error(x, "%s: no such array", array->s_name);
else if (!garray_getfloatwords(a, &npoints, &vec))
pd_error(x, "%s: bad template for tabLink", array->s_name);
else
{
posx = fabs(pos)*npoints;
int n=posx;
if (n >= npoints - 1)
return (sign_ch(pos)*vec[npoints-1].w_float);
float fract = posx-n;
return (sign_ch(pos) * ( fract*vec[n+1].w_float+(1-fract)*vec[n].w_float));
}
return( pos); // si il y a un pb sur le tableau, on renvoie l'identité
}
void pmpd3d_reset(t_pmpd3d *x)
{
x->nb_link = 0;
x->nb_mass = 0;
x->minX = -1000000;
x->maxX = 1000000;
x->minY = -1000000;
x->maxY = 1000000;
x->minZ = -1000000;
x->maxZ = 1000000;
x->grab = 0;
}
void *pmpd3d_new()
{
t_pmpd3d *x = (t_pmpd3d *)pd_new(pmpd3d_class);
pmpd3d_reset(x);
x->main_outlet=outlet_new(&x->x_obj, 0);
// x->info_outlet=outlet_new(&x->x_obj, 0); // TODO
return (void *)x;
}
void pmpd3d_bang(t_pmpd3d *x)
{
// this part is doing all the PM
t_float F, L, Lx,Ly, Lz, Fx, Fy, Fz, tmpX, tmpY, tmpZ, speed;
t_int i;
// post("bang");
for (i=0; inb_mass; i++)
// compute new masses position
if (x->mass[i].mobile > 0) // only if mobile
{
x->mass[i].speedX += x->mass[i].forceX * x->mass[i].invM;
x->mass[i].speedY += x->mass[i].forceY * x->mass[i].invM;
x->mass[i].speedZ += x->mass[i].forceZ * x->mass[i].invM;
// x->mass[i].forceX = 0;
// x->mass[i].forceY = 0;
// x->mass[i].forceZ = 0;
x->mass[i].posX += x->mass[i].speedX ;
x->mass[i].posY += x->mass[i].speedY ;
x->mass[i].posZ += x->mass[i].speedZ ;
if ( (x->mass[i].posX < x->minX) || (x->mass[i].posX > x->maxX) || (x->mass[i].posY < x->minY)
|| (x->mass[i].posY > x->maxY) || (x->mass[i].posZ < x->minZ) || (x->mass[i].posZ > x->maxZ) )
{
tmpX = min(x->maxX,max(x->minX,x->mass[i].posX));
tmpY = min(x->maxY,max(x->minY,x->mass[i].posY));
tmpZ = min(x->maxZ,max(x->minZ,x->mass[i].posZ));
x->mass[i].speedX -= x->mass[i].posX - tmpX;
x->mass[i].speedY -= x->mass[i].posY - tmpY;
x->mass[i].speedZ -= x->mass[i].posZ - tmpZ;
x->mass[i].posX = tmpX;
x->mass[i].posY = tmpY;
x->mass[i].posZ = tmpZ;
}
x->mass[i].forceX = -x->mass[i].D2 * x->mass[i].speedX;
x->mass[i].forceY = -x->mass[i].D2 * x->mass[i].speedY;
x->mass[i].forceZ = -x->mass[i].D2 * x->mass[i].speedZ;
speed = sqrt(x->mass[i].speedX * x->mass[i].speedX + x->mass[i].speedY * x->mass[i].speedY + x->mass[i].speedZ * x->mass[i].speedZ);
if (speed != 0) {
x->mass[i].forceX += x->mass[i].D2offset * (x->mass[i].speedX/speed);
x->mass[i].forceY += x->mass[i].D2offset * (x->mass[i].speedY/speed);
x->mass[i].forceZ += x->mass[i].D2offset * (x->mass[i].speedZ/speed);
}
}
for (i=0; inb_link; i++)
// compute link forces
{
if (x->link[i].active == 1)
{
Lx = x->link[i].mass1->posX - x->link[i].mass2->posX;
Ly = x->link[i].mass1->posY - x->link[i].mass2->posY;
Lz = x->link[i].mass1->posZ - x->link[i].mass2->posZ;
L = sqrt( sqr(Lx) + sqr(Ly) + sqr(Lz) );
if ( (L >= x->link[i].Lmin) && (L < x->link[i].Lmax) && (L != 0))
{
if (x->link[i].lType == 2)
{ // K et D viennent d'une table
F = x->link[i].D * tabread2(x, (L - x->link[i].distance) / x->link[i].D_L, x->link[i].arrayD);
F += x->link[i].K * tabread2(x, L / x->link[i].K_L, x->link[i].arrayK);
}
else
{
F = x->link[i].D * (L - x->link[i].distance) ;
F += x->link[i].K * pow_ch( L - x->link[i].L, x->link[i].Pow);
}
Fx = F * Lx/L;
Fy = F * Ly/L;
Fz = F * Lz/L;
if (x->link[i].lType == 1)
{ // on projette selon 1 axe
Fx = Fx*x->link[i].VX; // V est unitaire, dc on projete sans pb
Fy = Fy*x->link[i].VY;
Fz = Fz*x->link[i].VZ;
}
x->link[i].mass1->forceX -= Fx;
x->link[i].mass1->forceY -= Fy;
x->link[i].mass1->forceZ -= Fz;
x->link[i].mass2->forceX += Fx;
x->link[i].mass2->forceY += Fy;
x->link[i].mass2->forceZ += Fz;
}
x->link[i].distance=L;
}
}
}
void pmpd3d_mass(t_pmpd3d *x, t_symbol *s, int argc, t_atom *argv)
//, t_symbol *Id, t_float mobile, t_float M, t_float posX, t_float posY, t_float posZ )
{ // add a mass : Id, invM speedX posX
if(argv[0].a_type == A_SYMBOL)
{
x->mass[x->nb_mass].Id = atom_getsymbolarg(0,argc,argv);
x->mass[x->nb_mass].mobile = (int) atom_getfloatarg(1, argc, argv);
t_float M = atom_getfloatarg(2, argc, argv);
if (M<=0) M=1;
x->mass[x->nb_mass].invM = 1/M;
x->mass[x->nb_mass].speedX = 0;
x->mass[x->nb_mass].speedY = 0;
x->mass[x->nb_mass].speedZ = 0;
x->mass[x->nb_mass].posX = atom_getfloatarg(3, argc, argv);
x->mass[x->nb_mass].posY = atom_getfloatarg(4, argc, argv);
x->mass[x->nb_mass].posZ = atom_getfloatarg(5, argc, argv);
x->mass[x->nb_mass].forceX = 0;
x->mass[x->nb_mass].forceY = 0;
x->mass[x->nb_mass].forceZ = 0;
x->mass[x->nb_mass].num = x->nb_mass;
x->mass[x->nb_mass].D2 = 0;
x->mass[x->nb_mass].D2offset = 0;
x->nb_mass++ ;
x->nb_mass = min ( nb_max_mass -1, x->nb_mass );
}
}
void pmpd3d_create_link(t_pmpd3d *x, t_symbol *Id, int mass1, int mass2, t_float K, t_float D, t_float Pow, t_float Lmin, t_float Lmax, t_int type)
{ // create a link based on mass number
if ((x->nb_mass>1) && (mass1 != mass2) && (mass1 >= 0) && (mass2 >= 0) && (mass1 < x->nb_mass) && (mass2 < x->nb_mass) )
{
x->link[x->nb_link].lType = type;
x->link[x->nb_link].Id = Id;
x->link[x->nb_link].active = 1;
x->link[x->nb_link].mass1 = &x->mass[mass1];
x->link[x->nb_link].mass2 = &x->mass[mass2];
x->link[x->nb_link].K = K;
x->link[x->nb_link].D = D;
x->link[x->nb_link].L = sqrt(sqr(x->mass[mass1].posX - x->mass[mass2].posX) +
sqr(x->mass[mass1].posY - x->mass[mass2].posY) + sqr(x->mass[mass1].posZ - x->mass[mass2].posZ));
x->link[x->nb_link].Pow = Pow;
x->link[x->nb_link].Lmin = Lmin;
x->link[x->nb_link].Lmax = Lmax;
x->link[x->nb_link].distance = x->link[x->nb_link].L ;
x->nb_link++ ;
x->nb_link = min ( nb_max_link -1, x->nb_link );
}
}
void pmpd3d_link(t_pmpd3d *x, t_symbol *s, int argc, t_atom *argv)
{ // add a link : Id, *mass1, *mass2, K, D, Pow, Lmin, Lmax;
int i, j;
t_symbol *Id = atom_getsymbolarg(0,argc,argv);
int mass1 = atom_getfloatarg(1, argc, argv);
int mass2 = atom_getfloatarg(2, argc, argv);
t_float K = atom_getfloatarg(3, argc, argv);
t_float D = atom_getfloatarg(4, argc, argv);
t_float Pow = 1;
if (argc > 5) Pow = atom_getfloatarg(5, argc, argv);
t_float Lmin = -1000000;
if (argc > 6) Lmin = atom_getfloatarg(6, argc, argv);
t_float Lmax = 1000000;
if (argc > 7) Lmax = atom_getfloatarg(7, argc, argv);
// post("%d,%d, %f,%f", mass1, mass2, K, D);
if ( ( argv[1].a_type == A_FLOAT ) && ( argv[2].a_type == A_FLOAT ) )
{
pmpd3d_create_link(x, Id, mass1, mass2, K, D, Pow, Lmin, Lmax, 0);
}
else
if ( ( argv[1].a_type == A_SYMBOL ) && ( argv[2].a_type == A_FLOAT ) )
{
for (i=0; i< x->nb_mass; i++)
{
if ( atom_getsymbolarg(1,argc,argv) == x->mass[i].Id)
{
pmpd3d_create_link(x, Id, i, mass2, K, D, Pow, Lmin, Lmax, 0);
}
}
}
else
if ( ( argv[1].a_type == A_FLOAT ) && ( argv[2].a_type == A_SYMBOL ) )
{
for (i=0; i< x->nb_mass; i++)
{
if ( atom_getsymbolarg(2,argc,argv) == x->mass[i].Id)
{
pmpd3d_create_link(x, Id, mass1, i, K, D, Pow, Lmin, Lmax, 0);
}
}
}
else
if ( ( argv[1].a_type == A_SYMBOL ) && ( argv[2].a_type == A_SYMBOL ) )
{
for (i=0; i< x->nb_mass; i++)
{
for (j=0; j< x->nb_mass; j++)
{
if ( (atom_getsymbolarg(1,argc,argv) == x->mass[i].Id)&(atom_getsymbolarg(2,argc,argv) == x->mass[j].Id))
{
if (!( (x->mass[i].Id == x->mass[j].Id) && (i>j) ))
// si lien entre 2 serie de masses identique entres elle, alors on ne creer qu'un lien sur 2, pour evider les redondances
pmpd3d_create_link(x, Id, i, j, K, D, Pow, Lmin, Lmax, 0);
}
}
}
}
}
void pmpd3d_tLink(t_pmpd3d *x, t_symbol *s, int argc, t_atom *argv)
{ // add a link : Id, *mass1, *mass2, K, D, Vx, Vy, Pow, Lmin, Lmax;
int i, j;
t_symbol *Id = atom_getsymbolarg(0,argc,argv);
int mass1 = atom_getfloatarg(1, argc, argv);
int mass2 = atom_getfloatarg(2, argc, argv);
t_float K = atom_getfloatarg(3, argc, argv);
t_float D = atom_getfloatarg(4, argc, argv);
t_float vecteurX = atom_getfloatarg(5, argc, argv);
t_float vecteurY = atom_getfloatarg(6, argc, argv);
t_float vecteurZ = atom_getfloatarg(7, argc, argv);
t_float vecteur = sqrt( sqr(vecteurX) + sqr(vecteurY) + sqr(vecteurZ) );
vecteurX /= vecteur;
vecteurY /= vecteur;
vecteurZ /= vecteur;
t_float Pow = 1;
if (argc > 8) Pow = atom_getfloatarg(8, argc, argv);
t_float Lmin = 0;
if (argc > 9) Lmin = atom_getfloatarg(9, argc, argv);
t_float Lmax = 1000000;
if (argc > 10) Lmax = atom_getfloatarg(10, argc, argv);
if ( ( argv[1].a_type == A_FLOAT ) && ( argv[2].a_type == A_FLOAT ) )
{
pmpd3d_create_link(x, Id, mass1, mass2, K, D, Pow, Lmin, Lmax, 1);
x->link[x->nb_link-1].VX = vecteurX;
x->link[x->nb_link-1].VY = vecteurY;
x->link[x->nb_link-1].VZ = vecteurZ;
}
else
if ( ( argv[1].a_type == A_SYMBOL ) && ( argv[2].a_type == A_FLOAT ) )
{
for (i=0; i< x->nb_mass; i++)
{
if ( atom_getsymbolarg(1,argc,argv) == x->mass[i].Id)
{
pmpd3d_create_link(x, Id, i, mass2, K, D, Pow, Lmin, Lmax, 1);
x->link[x->nb_link-1].VX = vecteurX;
x->link[x->nb_link-1].VY = vecteurY;
x->link[x->nb_link-1].VZ = vecteurZ;
}
}
}
else
if ( ( argv[1].a_type == A_FLOAT ) && ( argv[2].a_type == A_SYMBOL ) )
{
for (i=0; i< x->nb_mass; i++)
{
if ( atom_getsymbolarg(2,argc,argv) == x->mass[i].Id)
{
pmpd3d_create_link(x, Id, mass1, i, K, D, Pow, Lmin, Lmax, 1);
x->link[x->nb_link-1].VX = vecteurX;
x->link[x->nb_link-1].VY = vecteurY;
x->link[x->nb_link-1].VZ = vecteurZ;
}
}
}
else
if ( ( argv[1].a_type == A_SYMBOL ) && ( argv[2].a_type == A_SYMBOL ) )
{
for (i=0; i< x->nb_mass; i++)
{
for (j=0; j< x->nb_mass; j++)
{
if ( (atom_getsymbolarg(1,argc,argv) == x->mass[i].Id)&(atom_getsymbolarg(2,argc,argv) == x->mass[j].Id))
{
if (!( (x->mass[i].Id == x->mass[j].Id) && (i>j) ))
// si lien entre 2 serie de masses identique entres elle, alors on ne creer qu'un lien sur 2, pour evider les redondances
{
pmpd3d_create_link(x, Id, i, j, K, D, Pow, Lmin, Lmax, 1);
x->link[x->nb_link-1].VX = vecteurX;
x->link[x->nb_link-1].VY = vecteurY;
x->link[x->nb_link-1].VZ = vecteurZ;
}
}
}
}
}
}
void pmpd3d_tabLink(t_pmpd3d *x, t_symbol *s, int argc, t_atom *argv)
{
int i, j;
t_symbol *Id = atom_getsymbolarg(0,argc,argv);
int mass1 = atom_getfloatarg(1, argc, argv);
int mass2 = atom_getfloatarg(2, argc, argv);
t_symbol *arrayK = atom_getsymbolarg(3,argc,argv);
t_float Kl = atom_getfloatarg(4, argc, argv);
if (Kl <= 0) Kl = 1;
t_symbol *arrayD = atom_getsymbolarg(5,argc,argv);
t_float Dl = atom_getfloatarg(6, argc, argv);
if (Dl <= 0) Dl = 1;
if ( ( argv[1].a_type == A_FLOAT ) && ( argv[2].a_type == A_FLOAT ) )
{
pmpd3d_create_link(x, Id, mass1, mass2, 1, 1, 1, 0, 1000000, 2);
x->link[x->nb_link-1].arrayK = arrayK;
x->link[x->nb_link-1].arrayD = arrayD;
x->link[x->nb_link-1].K_L = Kl;
x->link[x->nb_link-1].D_L = Dl;
}
else
if ( ( argv[1].a_type == A_SYMBOL ) && ( argv[2].a_type == A_FLOAT ) )
{
for (i=0; i< x->nb_mass; i++)
{
if ( atom_getsymbolarg(1,argc,argv) == x->mass[i].Id)
{
pmpd3d_create_link(x, Id, i, mass2, 1, 1, 1, 0, 1000000, 2);
x->link[x->nb_link-1].arrayK = arrayK;
x->link[x->nb_link-1].arrayD = arrayD;
x->link[x->nb_link-1].K_L = Kl;
x->link[x->nb_link-1].D_L = Dl;
}
}
}
else
if ( ( argv[1].a_type == A_FLOAT ) && ( argv[2].a_type == A_SYMBOL ) )
{
for (i=0; i< x->nb_mass; i++)
{
if ( atom_getsymbolarg(2,argc,argv) == x->mass[i].Id)
{
pmpd3d_create_link(x, Id, mass1, i, 1, 1, 1, 0, 1000000, 2);
x->link[x->nb_link-1].arrayK = arrayK;
x->link[x->nb_link-1].arrayD = arrayD;
x->link[x->nb_link-1].K_L = Kl;
x->link[x->nb_link-1].D_L = Dl;
}
}
}
else
if ( ( argv[1].a_type == A_SYMBOL ) && ( argv[2].a_type == A_SYMBOL ) )
{
for (i=0; i< x->nb_mass; i++)
{
for (j=0; j< x->nb_mass; j++)
{
if ( (atom_getsymbolarg(1,argc,argv) == x->mass[i].Id)&(atom_getsymbolarg(2,argc,argv) == x->mass[j].Id))
{
if (!( (x->mass[i].Id == x->mass[j].Id) && (i>j) ))
// si lien entre 2 serie de masses identique entres elle, alors on ne creer qu'un lien sur 2, pour evider les redondances
{
pmpd3d_create_link(x, Id, i, j, 1, 1, 1, 0, 1000000, 2);
x->link[x->nb_link-1].arrayK = arrayK;
x->link[x->nb_link-1].arrayD = arrayD;
x->link[x->nb_link-1].K_L = Kl;
x->link[x->nb_link-1].D_L = Dl;
}
}
}
}
}
}
#include "pmpd3d_set.c"
#include "pmpd3d_get.c"
#include "pmpd3d_list.c"
#include "pmpd3d_tab.c"
#include "pmpd3d_various.c"
#include "pmpd3d_stat.c"
void pmpd3d_setup(void)
{
pmpd3d_class = class_new(gensym("pmpd3d"),
(t_newmethod)pmpd3d_new,
0, sizeof(t_pmpd3d),CLASS_DEFAULT, 0);
class_addbang(pmpd3d_class, pmpd3d_bang);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_reset, gensym("reset"), 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_mass, gensym("mass"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_link, gensym("link"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_tLink, gensym("tLink"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_tabLink, gensym("tabLink"), A_GIMME, 0);
// pmpd3d_set
class_addmethod(pmpd3d_class, (t_method)pmpd3d_setK, gensym("setK"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_setD, gensym("setD"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_setDEnv, gensym("setDEnv"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_setDEnvOffset, gensym("setDEnvOffset"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_setL, gensym("setL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_setLKTab, gensym("setLKTab"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_setLDTab, gensym("setLDTab"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_setLinkId, gensym("setLinkId"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_setMassId, gensym("setMassId"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_setFixed, gensym("setFixed"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_setMobile, gensym("setMobile"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_setSpeedX, gensym("setSpeedX"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_setSpeedY, gensym("setSpeedY"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_setSpeedZ, gensym("setSpeedZ"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_setSpeed, gensym("setSpeed"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_setForceX, gensym("setForceX"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_setForceY, gensym("setForceY"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_setForceZ, gensym("setForceZ"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_setForce, gensym("setForce"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_setFixed, gensym("setActive"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_setMobile, gensym("setInactive"), A_GIMME, 0);
// pmpd3d_get
class_addmethod(pmpd3d_class, (t_method)pmpd3d_get, gensym("get"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesPos, gensym("massesPos"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesSpeeds, gensym("massesSpeeds"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesForces, gensym("massesForces"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPos, gensym("linksPos"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksEnds, gensym("linksEnds"), A_GIMME, 0);
//pmpd3d_list
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesPosL, gensym("massesPosL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesSpeedsL, gensym("massesSpeedsL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesForcesL, gensym("massesForcesL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesPosXL, gensym("massesPosXL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesSpeedsXL, gensym("massesSpeedsXL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesForcesXL, gensym("massesForcesXL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesPosYL, gensym("massesPosYL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesSpeedsYL, gensym("massesSpeedsYL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesForcesYL, gensym("massesForcesYL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesPosZL, gensym("massesPosZL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesSpeedsZL, gensym("massesSpeedsZL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesForcesZL, gensym("massesForcesZL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesPosNormL, gensym("massesPosNormL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesSpeedsNormL, gensym("massesSpeedsNormL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesForcesNormL, gensym("massesForcesNormL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosL, gensym("linksPosL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthL, gensym("linksLengthL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosSpeedL, gensym("linksPosSpeedL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthSpeedL, gensym("linksLengthSpeedL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosXL, gensym("linksPosXL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthXL, gensym("linksLengthXL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosSpeedXL, gensym("linksPosSpeedXL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthSpeedXL, gensym("linksLengthSpeedXL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosYL, gensym("linksPosYL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthYL, gensym("linksLengthYL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosSpeedYL, gensym("linksPosSpeedYL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthSpeedYL, gensym("linksLengthSpeedYL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosZL, gensym("linksPosZL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthZL, gensym("linksLengthZL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosSpeedZL, gensym("linksPosSpeedZL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthSpeedZL, gensym("linksLengthSpeedZL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosNormL, gensym("linksPosNormL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthNormL, gensym("linksLengthNormL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosSpeedNormL, gensym("linksPosSpeedNormL"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthSpeedNormL, gensym("linksLengthSpeedNormL"), A_GIMME, 0);
// pmpd3d_tab
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesPosT, gensym("massesPosT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesSpeedsT, gensym("massesSpeedsT"),A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesForcesT, gensym("massesForcesT"),A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesPosXT, gensym("massesPosXT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesSpeedsXT, gensym("massesSpeedsXT"),A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesForcesXT, gensym("massesForcesXT"),A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesPosYT, gensym("massesPosYT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesSpeedsYT, gensym("massesSpeedsYT"),A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesForcesYT, gensym("massesForcesYT"),A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesPosZT, gensym("massesPosZT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesSpeedsZT, gensym("massesSpeedsZT"),A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesForcesZT, gensym("massesForcesZT"),A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesPosNormT, gensym("massesPosNormT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesSpeedsNormT, gensym("massesSpeedsNormT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesForcesNormT, gensym("massesForcesNormT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosT, gensym("linksPosT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthT, gensym("linksLengthT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosSpeedT, gensym("linksPosSpeedT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthSpeedT, gensym("linksLengthSpeedT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosXT, gensym("linksPosXT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthXT, gensym("linksLengthXT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosSpeedXT, gensym("linksPosSpeedXT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthSpeedXT, gensym("linksLengthSpeedXT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosYT, gensym("linksPosYT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthYT, gensym("linksLengthYT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosSpeedYT, gensym("linksPosSpeedYT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthSpeedYT, gensym("linksLengthSpeedYT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosZT, gensym("linksPosZT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthZT, gensym("linksLengthZT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosSpeedZT, gensym("linksPosSpeedZT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthSpeedZT, gensym("linksLengthSpeedZT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosNormT, gensym("linksPosNormT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthNormT, gensym("linksLengthNormT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosSpeedNormT, gensym("linksPosSpeedNormT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthSpeedNormT, gensym("linksLengthSpeedNormT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksEndT, gensym("linksEndT"), A_GIMME, 0);
/* class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksEnd1T, gensym("linksEnd1T"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksEnd2T, gensym("linksEnd2T"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksEndXT, gensym("linksEndXT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksEnd1XT, gensym("linksEnd1XT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksEnd2XT, gensym("linksEnd2XT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksEndYT, gensym("linksEndYT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksEnd1YT, gensym("linksEnd1YT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksEnd2YT, gensym("linksEnd2YT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksEndZT, gensym("linksEndZT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksEnd1ZT, gensym("linksEnd1ZT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksEnd2ZT, gensym("linksEnd2ZT"), A_GIMME, 0);
*/
// pmpd3d_various
class_addmethod(pmpd3d_class, (t_method)pmpd3d_infosL, gensym("infosL"), 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_infosL, gensym("print"), 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_force, gensym("force"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_forceX, gensym("forceX"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_forceY, gensym("forceY"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_forceZ, gensym("forceZ"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_pos, gensym("pos"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_posX, gensym("posX"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_posY, gensym("posY"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_posZ, gensym("posZ"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_min, gensym("min"), A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_max, gensym("max"), A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_minX, gensym("Xmin"), A_DEFFLOAT, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_maxX, gensym("Xmax"), A_DEFFLOAT, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_minY, gensym("Ymin"), A_DEFFLOAT, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_maxY, gensym("Ymax"), A_DEFFLOAT, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_minZ, gensym("Zmin"), A_DEFFLOAT, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_maxZ, gensym("Zmax"), A_DEFFLOAT, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_addPos, gensym("addPos"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_addPosX, gensym("addPosX"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_addPosY, gensym("addPosY"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_addPosZ, gensym("addPosZ"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_grabMass, gensym("grabMass"), A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_closestMass, gensym("closestMass"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesDistances, gensym("massesDistances"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_enumMasses, gensym("enumMasses"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_enumLinks, gensym("enumLinks"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_forcesXT, gensym("forcesXT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_forcesYT, gensym("forcesYT"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_forcesZT, gensym("forcesZT"), A_GIMME, 0);
// pmpd3d_stat
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesPosMean, gensym("massesPosMean"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesPosStd, gensym("massesPosStd"),A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesForcesMean, gensym("massesForecesMean"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesForcesStd, gensym("massesForcesStd"),A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesSpeedsMean, gensym("massesSpeedsMean"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_massesSpeedsStd, gensym("massesSpeedsStd"),A_GIMME, 0);
/* class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosMean, gensym("linksPosMean"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthMean, gensym("linksLengthMean"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosSpeedMean, gensym("linksPosSpeedMean"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthSpeedMean, gensym("linksLengthSpeedMean"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosStd, gensym("linksPosStd"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthStd, gensym("linksLengthStd"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksPosSpeedStd, gensym("linksPosSpeedStd"), A_GIMME, 0);
class_addmethod(pmpd3d_class, (t_method)pmpd3d_linksLengthSpeedStd0, gensym("linksLengthSpeedStd"), A_GIMME, 0);
*/
}