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#include "m_pd.h"
#include "math.h"
static t_class *link3D_class;
typedef struct _link3D {
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_link3D;
void link3D_position3D(t_link3D *x, t_floatarg f1, t_floatarg f2, t_floatarg f3)
{
x->position3Dx1 = f1;
x->position3Dy1 = f2;
x->position3Dz1 = f3;
}
void link3D_position3D2(t_link3D *x, t_floatarg f1, t_floatarg f2, t_floatarg f3)
{
x->position3Dx2 = f1;
x->position3Dy2 = f2;
x->position3Dz2 = f3;
}
void link3D_bang(t_link3D *x)
{
t_float force, 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 link3D_reset(t_link3D *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 link3D_resetF(t_link3D *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 link3D_resetL(t_link3D *x)
{
x->longueur = sqrt ( pow((x->position3Dx2-x->position3Dx1), 2) + pow((x->position3Dy2-x->position3Dy1),2) + pow((x->position3Dz2-x->position3Dz1), 2) );
}
void link3D_setK(t_link3D *x, t_float K)
{
x->raideur = K;
}
void link3D_setL(t_link3D *x, t_float L)
{
x->longueur = L;
}
void link3D_setD(t_link3D *x, t_float D)
{
x->viscosite = D;
}
void link3D_setD2(t_link3D *x, t_float D2)
{
x->D2 = D2;
}
void link3D_Lmin(t_link3D *x, t_float Lmin)
{
x->Lmin = Lmin;
}
void link3D_Lmax(t_link3D *x, t_float Lmax)
{
x->Lmax = Lmax;
}
void link3D_muscle(t_link3D *x, t_float muscle)
{
x->muscle = muscle;
}
static void link3D_free(t_link3D *x)
{
pd_unbind(&x->x_obj.ob_pd, x->x_sym);
}
void *link3D_new(t_symbol *s, t_floatarg l, t_floatarg K, t_floatarg D, t_floatarg D2)
{
t_link3D *x = (t_link3D *)pd_new(link3D_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 link3D_setup(void)
{
link3D_class = class_new(gensym("link3D"),
(t_newmethod)link3D_new,
(t_method)link3D_free,
sizeof(t_link3D),
CLASS_DEFAULT, A_DEFSYM, A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, 0);
class_addcreator((t_newmethod)link3D_new, gensym("lia3D"), A_DEFSYM, A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, 0);
class_addbang(link3D_class, link3D_bang);
class_addmethod(link3D_class, (t_method)link3D_reset, gensym("reset"), 0);
class_addmethod(link3D_class, (t_method)link3D_resetL, gensym("resetL"), 0);
class_addmethod(link3D_class, (t_method)link3D_resetF, gensym("resetF"), 0);
class_addmethod(link3D_class, (t_method)link3D_setD, gensym("setD"), A_DEFFLOAT, 0);
class_addmethod(link3D_class, (t_method)link3D_setD2, gensym("setD2"), A_DEFFLOAT, 0);
class_addmethod(link3D_class, (t_method)link3D_setK, gensym("setK"), A_DEFFLOAT, 0);
class_addmethod(link3D_class, (t_method)link3D_setL, gensym("setL"), A_DEFFLOAT, 0);
class_addmethod(link3D_class, (t_method)link3D_Lmin, gensym("setLmin"), A_DEFFLOAT, 0);
class_addmethod(link3D_class, (t_method)link3D_Lmax, gensym("setLmax"), A_DEFFLOAT, 0);
class_addmethod(link3D_class, (t_method)link3D_muscle, gensym("setM"), A_DEFFLOAT, 0);
class_addmethod(link3D_class, (t_method)link3D_position3D, gensym("position3D"), A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, 0);
class_addmethod(link3D_class, (t_method)link3D_position3D2, gensym("position3D2"), A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, 0);
}
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