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
|
#include "m_pd.h"
#include "math.h"
static t_class *masse_class;
typedef struct _masse {
t_object x_obj;
t_float pos_old_1, pos_old_2, Xinit;
t_float force, masse, dX;
t_float minX, maxX;
t_outlet *position_new, *vitesse_out, *force_out;
t_symbol *x_sym; // receive
} t_masse;
extern t_float max(t_float, t_float);
extern t_float min(t_float, t_float);
void masse_minX(t_masse *x, t_floatarg f1)
{
x->minX = f1;
}
void masse_maxX(t_masse *x, t_floatarg f1)
{
x->maxX = f1;
}
void masse_float(t_masse *x, t_floatarg f1)
{
x->force += f1;
}
void masse_bang(t_masse *x)
{
t_float pos_new;
if (x->masse > 0)
pos_new = x->force/x->masse + 2*x->pos_old_1 - x->pos_old_2;
else pos_new = x->pos_old_1;
pos_new = max(min(x->maxX, pos_new), x->minX);
pos_new += x->dX;
x->pos_old_1 += x->dX; // pour ne pas avoir d'inertie suplementaire du a ce deplacement
outlet_float(x->vitesse_out, x->pos_old_1 - x->pos_old_2);
outlet_float(x->force_out, x->force);
outlet_float(x->position_new, pos_new);
x->pos_old_2 = x->pos_old_1;
x->pos_old_1 = pos_new;
x->force = 0;
x->dX = 0;
}
void masse_reset(t_masse *x)
{
x->pos_old_2 = x->Xinit;
x->pos_old_1 = x->Xinit;
x->force=0;
outlet_float(x->position_new, x->Xinit);
}
void masse_resetF(t_masse *x)
{
x->force=0;
}
void masse_dX(t_masse *x, t_float posX)
{
x->dX += posX;
}
void masse_setX(t_masse *x, t_float posX)
{
x->pos_old_2 = posX; // clear hystory for stability (instability) problem
x->pos_old_1 = posX;
x->force=0;
outlet_float(x->position_new, posX);
}
void masse_loadbang(t_masse *x)
{
outlet_float(x->position_new, x->Xinit);
}
void masse_set_masse(t_masse *x, t_float mass)
{
x->masse=mass;
}
static void masse_free(t_masse *x)
{
pd_unbind(&x->x_obj.ob_pd, x->x_sym);
}
void *masse_new(t_symbol *s, t_floatarg M, t_floatarg X)
{
t_masse *x = (t_masse *)pd_new(masse_class);
x->x_sym = s;
pd_bind(&x->x_obj.ob_pd, s);
x->position_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->Xinit=X;
x->pos_old_1 = X;
x->pos_old_2 = X;
x->force=0;
x->masse=M;
x->minX = -100000;
x->maxX = 100000;
if (x->masse<=0) x->masse=1;
return (void *)x;
}
void masse_setup(void)
{
masse_class = class_new(gensym("masse"),
(t_newmethod)masse_new,
(t_method)masse_free,
sizeof(t_masse),
CLASS_DEFAULT, A_DEFSYM, A_DEFFLOAT, A_DEFFLOAT,0);
class_addcreator((t_newmethod)masse_new, gensym("mass"), A_DEFSYM, A_DEFFLOAT, A_DEFFLOAT,0);
class_addcreator((t_newmethod)masse_new, gensym("pmpd.mass"), A_DEFSYM, A_DEFFLOAT, A_DEFFLOAT,0);
class_addfloat(masse_class, masse_float);
class_addbang(masse_class, masse_bang);
class_addmethod(masse_class, (t_method)masse_set_masse, gensym("setM"), A_DEFFLOAT, 0);
class_addmethod(masse_class, (t_method)masse_setX, gensym("setX"), A_DEFFLOAT, 0);
class_addmethod(masse_class, (t_method)masse_dX, gensym("dX"), A_DEFFLOAT, 0);
class_addmethod(masse_class, (t_method)masse_reset, gensym("reset"), 0);
class_addmethod(masse_class, (t_method)masse_resetF, gensym("resetF"), 0);
class_addmethod(masse_class, (t_method)masse_minX, gensym("setXmin"), A_DEFFLOAT, 0);
class_addmethod(masse_class, (t_method)masse_maxX, gensym("setXmax"), A_DEFFLOAT, 0);
class_addmethod(masse_class, (t_method)masse_loadbang, gensym("loadbang"), 0);
}
|
