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#include "m_pd.h"
#include "math.h"
static t_class *linkKD_class;
typedef struct _linkKD {
t_object x_obj;
t_float raideur, viscosite, D2, longueur, distance_old, position1, position2, position_old1, position_old2;
t_outlet *force1;
t_outlet *force2;
t_float Lmin, Lmax;
t_symbol *x_sym; // receive
} t_linkKD;
void linkKD_float(t_linkKD *x, t_floatarg f1)
{
x->position1 = f1;
}
void linkKD_bang(t_linkKD *x)
{
t_float force1, force2, distance;
distance = (x->position2 - x->position1);
//distance = abs(x->position2 - x->position1);
if (distance<0) distance = -distance;
force1 = x->raideur*(distance-(x->longueur)) + x->viscosite*(distance - x->distance_old) ;
x->distance_old = distance;
if (distance > x->Lmax) force1=0;
if (distance < x->Lmin) force1=0;
if (distance != 0)
{
force1 = force1 * (x->position2 - x->position1) / distance;
}
force2 = -force1 + (x->position_old2 - x->position2)*x->D2;
force1 += (x->position_old1 - x->position1)*x->D2;
// masse damping
outlet_float(x->force1, force1);
outlet_float(x->force2, force2);
x->position_old1 = x->position1;
x->position_old2 = x->position2;
}
void linkKD_reset(t_linkKD *x)
{
x->position1 = 0;
x->position2 = 0;
x->position_old1 = 0;
x->position_old2 = 0;
x->distance_old = x->longueur;
}
void linkKD_resetF(t_linkKD *x)
{
x->position_old1 = x->position1;
x->position_old2 = x->position2;
x->distance_old = x->longueur;
}
void linkKD_resetl(t_linkKD *x)
{
x->longueur = (x->position1 - x->position2);
}
void linkKD_setL(t_linkKD *x, t_float L)
{
x->longueur = L;
}
void linkKD_setK(t_linkKD *x, t_float K)
{
x->raideur = K;
}
void linkKD_setD(t_linkKD *x, t_float D)
{
x->viscosite = D;
}
void linkKD_setD2(t_linkKD *x, t_float D2)
{
x->D2 = D2;
}
void linkKD_Lmin(t_linkKD *x, t_float Lmin)
{
x->Lmin = Lmin;
}
void linkKD_Lmax(t_linkKD *x, t_float Lmax)
{
x->Lmax = Lmax;
}
static void linkKD_free(t_linkKD *x)
{
pd_unbind(&x->x_obj.ob_pd, x->x_sym);
}
void *linkKD_new(t_symbol *s, t_floatarg L, t_floatarg K, t_floatarg D, t_floatarg D2 )
{
t_linkKD *x = (t_linkKD *)pd_new(linkKD_class);
x->x_sym = s;
pd_bind(&x->x_obj.ob_pd, s);
floatinlet_new(&x->x_obj, &x->position2);
x->force1=outlet_new(&x->x_obj, 0);
x->force2=outlet_new(&x->x_obj, 0);
x->position1 = 0;
x->position2 = 0;
x->raideur=K;
x->viscosite=D;
x->D2=D2;
x->Lmin= 0;
x->Lmax= 10000;
x->longueur=L;
return (void *)x;
}
void link_setup(void)
{
linkKD_class = class_new(gensym("link"),
(t_newmethod)linkKD_new,
(t_method)linkKD_free,
sizeof(t_linkKD),
CLASS_DEFAULT, A_DEFSYM, A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, 0);
class_addcreator((t_newmethod)linkKD_new, gensym("lia"), A_DEFSYM, A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, 0);
class_addfloat(linkKD_class, linkKD_float);
class_addbang(linkKD_class, linkKD_bang);
class_addmethod(linkKD_class, (t_method)linkKD_reset, gensym("reset"), 0);
class_addmethod(linkKD_class, (t_method)linkKD_resetl, gensym("resetL"), 0);
class_addmethod(linkKD_class, (t_method)linkKD_resetF, gensym("resetF"), 0);
class_addmethod(linkKD_class, (t_method)linkKD_setD, gensym("setD"), A_DEFFLOAT, 0);
class_addmethod(linkKD_class, (t_method)linkKD_setD2, gensym("setD2"), A_DEFFLOAT, 0);
class_addmethod(linkKD_class, (t_method)linkKD_setK, gensym("setK"), A_DEFFLOAT, 0);
class_addmethod(linkKD_class, (t_method)linkKD_setL, gensym("setL"), A_DEFFLOAT, 0);
class_addmethod(linkKD_class, (t_method)linkKD_Lmin, gensym("setLmin"), A_DEFFLOAT, 0);
class_addmethod(linkKD_class, (t_method)linkKD_Lmax, gensym("setLmax"), A_DEFFLOAT, 0);
}
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