1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
|
#include "m_pd.h"
#include "math.h"
static t_class *lia2D_class;
typedef struct _lia2D {
t_object x_obj;
t_float raideur, viscosite, D2, longueur, distance_old;
t_float position2Dx1, position2Dx2, posx_old1, posx_old2;
t_float position2Dy1, position2Dy2, posy_old1, posy_old2;
t_float Lmin, Lmax, muscle;
t_outlet *force1;
t_outlet *force2;
t_symbol *x_sym; // receive
} t_lia2D;
void lia2D_position2D(t_lia2D *x, t_floatarg f1, t_floatarg f2)
{
x->position2Dx1 = f1;
x->position2Dy1 = f2;
}
void lia2D_position2D2(t_lia2D *x, t_floatarg f1, t_floatarg f2)
{
x->position2Dx2 = f1;
x->position2Dy2 = f2;
}
void lia2D_bang(t_lia2D *x)
{
t_float force, force2, forcex1, forcey1, forcex2, forcey2, distance;
t_atom force1[2];
distance = sqrt ( pow((x->position2Dx2-x->position2Dx1), 2) + pow((x->position2Dy2-x->position2Dy1), 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->position2Dx2 - x->position2Dx1) / distance;
forcey1 = force * (x->position2Dy2 - x->position2Dy1) / distance;
}
else
{
forcex1 = 0;
forcey1 = 0 ;
}
forcex2 = -forcex1;
forcey2 = -forcey1;
forcex1 += (x->posx_old1 - x->position2Dx1)*x->D2;
forcey1 += (x->posy_old1 - x->position2Dy1)*x->D2;
forcex2 += (x->posx_old2 - x->position2Dx2)*x->D2;
forcey2 += (x->posy_old2 - x->position2Dy2)*x->D2;
SETFLOAT(&(force1[0]), forcex2 );
SETFLOAT(&(force1[1]), forcey2 );
outlet_anything(x->force2, gensym("force2D"), 2, force1);
SETFLOAT(&(force1[0]), forcex1 );
SETFLOAT(&(force1[1]), forcey1 );
outlet_anything(x->force1, gensym("force2D"), 2, force1);
x->posx_old2 = x->position2Dx2;
x->posx_old1 = x->position2Dx1;
x->posy_old2 = x->position2Dy2;
x->posy_old1 = x->position2Dy1;
x->distance_old = distance;
}
void lia2D_reset(t_lia2D *x)
{
x->position2Dx1 = 0;
x->position2Dx2 = 0;
x->posx_old1 = 0;
x->posx_old2 = 0;
x->position2Dy1 = 0;
x->position2Dy2 = 0;
x->posy_old1 = 0;
x->posy_old2 = 0;
x->distance_old = x->longueur;
}
void lia2D_resetF(t_lia2D *x)
{
x->posx_old1 = x->position2Dx1;
x->posx_old2 = x->position2Dx2;
x->posy_old1 = x->position2Dy1;
x->posy_old2 = x->position2Dy2;
x->distance_old = x->longueur;
}
void lia2D_resetL(t_lia2D *x)
{
x->longueur = sqrt ( pow((x->position2Dx2-x->position2Dx1), 2) + pow((x->position2Dy2-x->position2Dy1), 2) );
}
void lia2D_setK(t_lia2D *x, t_float K)
{
x->raideur = K;
}
void lia2D_setL(t_lia2D *x, t_float L)
{
x->longueur = L;
}
void lia2D_setD(t_lia2D *x, t_float D)
{
x->viscosite = D;
}
void lia2D_setD2(t_lia2D *x, t_float D)
{
x->D2 = D;
}
void lia2D_Lmin(t_lia2D *x, t_float Lmin)
{
x->Lmin = Lmin;
}
void lia2D_Lmax(t_lia2D *x, t_float Lmax)
{
x->Lmax = Lmax;
}
void lia2D_muscle(t_lia2D *x, t_float muscle)
{
x->muscle = muscle;
}
static void lia2D_free(t_lia2D *x)
{
pd_unbind(&x->x_obj.ob_pd, x->x_sym);
}
void *lia2D_new(t_symbol *s, t_floatarg l, t_floatarg K, t_floatarg D, t_floatarg D2)
{
t_lia2D *x = (t_lia2D *)pd_new(lia2D_class);
x->x_sym = s;
pd_bind(&x->x_obj.ob_pd, s);
inlet_new(&x->x_obj, &x->x_obj.ob_pd, gensym("position2D"), gensym("position2D2"));
x->force1=outlet_new(&x->x_obj, 0);
x->force2=outlet_new(&x->x_obj, 0);
x->position2Dx1 = 0;
x->position2Dx2 = 0;
x->position2Dy1 = 0;
x->position2Dy2 = 0;
x->raideur=K;
x->viscosite=D;
x->longueur = l;
x->D2=D2;
x->Lmin= 0;
x->Lmax= 10000;
x->muscle= 1;
x->distance_old = x->longueur;
return (x);
}
void lia2D_setup(void)
{
lia2D_class = class_new(gensym("lia2D"),
(t_newmethod)lia2D_new,
(t_method)lia2D_free,
sizeof(t_lia2D),
CLASS_DEFAULT, A_DEFSYM, A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, 0);
class_addcreator((t_newmethod)lia2D_new, gensym("link2D"), A_DEFSYM, A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, 0);
class_addcreator((t_newmethod)lia2D_new, gensym("pmpd.link2D"), A_DEFSYM, A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, A_DEFFLOAT, 0);
class_addbang(lia2D_class, lia2D_bang);
class_addmethod(lia2D_class, (t_method)lia2D_reset, gensym("reset"), 0);
class_addmethod(lia2D_class, (t_method)lia2D_resetL, gensym("resetL"), 0);
class_addmethod(lia2D_class, (t_method)lia2D_resetF, gensym("resetF"), 0);
class_addmethod(lia2D_class, (t_method)lia2D_setD, gensym("setD"), A_DEFFLOAT, 0);
class_addmethod(lia2D_class, (t_method)lia2D_setD2, gensym("setD2"), A_DEFFLOAT, 0);
class_addmethod(lia2D_class, (t_method)lia2D_setK, gensym("setK"), A_DEFFLOAT, 0);
class_addmethod(lia2D_class, (t_method)lia2D_setL, gensym("setL"), A_DEFFLOAT, 0);
class_addmethod(lia2D_class, (t_method)lia2D_Lmin, gensym("setLmin"), A_DEFFLOAT, 0);
class_addmethod(lia2D_class, (t_method)lia2D_Lmax, gensym("setLmax"), A_DEFFLOAT, 0);
class_addmethod(lia2D_class, (t_method)lia2D_muscle, gensym("setM"), A_DEFFLOAT, 0);
class_addmethod(lia2D_class, (t_method)lia2D_position2D, gensym("position2D"), A_DEFFLOAT, A_DEFFLOAT, 0);
class_addmethod(lia2D_class, (t_method)lia2D_position2D2, gensym("position2D2"), A_DEFFLOAT, A_DEFFLOAT, 0);
}
|
