% CURTAINS
%
% Centre Automatique et Systmes
% MINES ParisTech
%
% Nicolas Petit 2009
%
% nicolas.petit@mines-paristech.fr
%
% move the mouse and watch the curtains slide and wave
clear all;
L=1.; % rope length in m
A_max= 1.5*L ; % amplitude of horizontal motion depth in m
g=9.81; % garvity in m/s^2
T_max=2*sqrt(A_max/g); % interval of motion (s)
DT=2*sqrt(L/g);
scale=min(11., 11/max(A_max*14/19,L));
% space mesh
dx=L/40.;
x=[0:dx:L];
nx=length(x);
H=zeros(1,nx);
% time step
dt0=DT/50;
dt=dt0;
dtmin=DT/1000;
dtmax=DT/3.;
YY=0*[-DT:dt0:DT];
mt=length(YY);
m0=(mt+1)/2.;
mm=[1:mt-1];
Y=0*[-5*DT:dt:0]; D=Y;t=Y;
nt=length(Y);
nn=[1:nt-1];
figure(1),clf;
% trolley
Xt=1+[0 1 1 0 ]+scale*H(nx);
Yt=12+[0 0 1/2 1/2 ];
trol=fill(Xt,Yt,'g');
% cable
Xc=1.5 + scale*H;
Yc=12+scale*(x-1);
lw=2;
% chain=line(Xc,Yc,'LineWidth', lw, 'Color', [0 0 0 ]);
% chain2=line(Xc+1,Yc,'LineWidth', lw, 'Color', [0 0 0 ]);
% chain3=line(Xc+2,Yc,'LineWidth', lw, 'Color', [0 0 0 ]);
% chain4=line(Xc+3,Yc,'LineWidth', lw, 'Color', [0 0 0 ]);
% chain5=line(Xc+4,Yc,'LineWidth', lw, 'Color', [0 0 0 ]);
% chain6=line(Xc+5,Yc,'LineWidth', lw, 'Color', [0 0 0 ]);
% chain7=line(Xc+6,Yc,'LineWidth', lw, 'Color', [0 0 0 ]);
% chain8=line(Xc+7,Yc,'LineWidth', lw, 'Color', [0 0 0 ]);
% chain9=line(Xc+8,Yc,'LineWidth', lw, 'Color', [0 0 0 ]);
% chain10=line(Xc+9,Yc,'LineWidth', lw, 'Color', [0 0 0 ]);
bigtable=ones(100,1)*Xc;
% ref
Xr=1+[0 1 0.5 0 ] + scale*H(nx);
Yr=0.3+[0 0 1/2 0 ];
%ref=fill(Xr,Yr,'k','EraseMode','background');
set(gcf,'WindowButtonMotionFcn','1;');
% Hplay=uicontrol('style','push',...
% 'units','normalized','position',[15/19 12.6/14 2/19 .5/14], ....
% 'string','Plot','callback', ...
% ['figure(2);clf;' ...
% 'subplot(211);' ...
% 'plot(t,Y);'...
% 'title(''flat output (m) versus time'');'...
% 'subplot(212);'...
% 'plot(t,D);'...
% 'title(''troley position (m/s)versus time''); pause(2);figure(1);'...
% ]);
%
% set(Hplay,'visible','off');
%
% Hrun=uicontrol('style','push',...
% 'units','normalized','position',[1/19 12.7/14 2/19 .5/14], ....
% 'string','stop','callback', ...
% ' ; ' ,'visible','off');
%
% title
% text(9.5,13.5,'HEAVY CHAIN: MOUSE-DRIVEN MOTION PLANNING','color',[0 0 0],...
% 'HorizontalAlignment','center');
% text(9.5,13,'display speed slider','color',[0 0 0],'HorizontalAlignment','center');
p1=[7.5/19 12.6/14 4/19 0.2/14];
% Hslider=uicontrol(figure(1),'units','normalized','style','slider','position',p1,...
% 'min',log(dtmin),'max',log(dtmax),'value',log(dt0),...
% 'callback',['buf=get(Hslider,''value'');dt=exp(buf);']);
figure(1);
%pause(1)
% set(Hrun,'string','Stop','callback','i=2;');
% set(Hplay,'visible','on')
% set(Hrun,'visible','on')
set(GCF,'renderer','opengl')
st=.1*3;
tt=0:st:(2*pi); tt2=(0-pi/6):st/2:(2*pi-pi/6);
cx=[cos(tt) 1]; cy=[sin(tt) 0]; cx2=cos(tt2); cy2=sin(tt2);
mx=[]; my=[];
lfond=size(cx2);
mx2=[cx2 fliplr(cx2)]; my2=[cy2 fliplr(cy2)]; fond=zeros(lfond);
cx3=[cx2; cx2]; cy3=[cy2; cy2];
ggg=zeros(size(cx2));
t1=T_max/5/10;
t2=t1;
seuil=A_max/5;
y1=0;
y2=0;
i=0;
dth=pi/100;
th=[0:dth:pi];
Sth=sin(th);
tt=0.;
y1_old=y1;
re=4;
damp=.9;
MATY=ones(19,1)*Yc;
MATZ=.5*[1 -1 1 -1 1 -1 1 -1 1 -1 1 -1 1 -1 1 -1 1 -1 1]'*ones(size(Xc));
plancher=surf([0,0,36,36],[-3 3 3 -3],2+zeros(4,4),zeros(4,4)-100)
curtain=surface(MATY*0,MATZ,MATY,ones(size(MATZ)));
curtain2=surface(MATY*0,MATZ,MATY,ones(size(MATZ)));
% axis([-3,33, -3, 3, 0, 12]*1.2);
light('position',[0,-2,10])
light('position',[33,-2,10])
light('position',[0,-2,10])
tringle=line([0, 36],[0 0],[0,0]+max(Yc)+.1); set(tringle,'linewidth',4);
ind=0;
% hold on
% colonne1=surface(cx3,cy3,16/2*[ggg; 2*ones(size(cy2))],[ggg; 2*ones(size(cy2))]*10);
% top1=surface(cx3(1,:),cy3(1,:),16*ones(max(size(cx3)),max(size(cx3))))
% colonne2=surface(36+cx3,cy3,16/2*[ggg; 2*ones(size(cy2))],[ggg; 2*ones(size(cy2))]*10);
% top2=surface(36+cx3(1,:),cy3(1,:),16*ones(max(size(cx3)),max(size(cx3))))
% hold off
% material metal
% axis equal
while (i < 1)
ind=ind+.1;
wind=(sin(ind))*5;
buf=get(gca,'CurrentPoint');
% ref=[ min(3,max(-3,buf(2,1))) ; min(2.5,max(-2.5,buf(2,2))) ] ;
ref=[ min(16.5,max(0,buf(2,1))) ] ;
A=ref(1)+wind*0;
% buf=get(gca,'CurrentPoint');
% A=(buf(1,1)-1.5)/scale;
A=max(0,A);
A=min(16.5,A);
y1=(y1+dt*y2/t1)/(1+dt/t1);
t2b=t2*max(1,abs(A-y2)/seuil);
y2=(y2+dt*A/t2b)/(1+dt/t2b);
tt=tt+dt;
if (tt >= dt0);
ii=floor(tt/dt0);
dy1=(y1-y1_old)/tt;
for iii=1:ii;
YY(mm)=YY(mm+1);YY(mt)=y1_old+iii*dt0*dy1;
end;
y1_old=y1-dy1*(tt-ii*dt0);
tt=0.;
end;
for ix=1:nx;
tau=2*sqrt(x(ix)/g);
s=tau*Sth;
ns=floor((mt-m0)*s/DT);
H(ix)=(dth/2/pi)*sum(YY(m0+ns)+YY(m0-ns));
end
Y(nn)=Y(nn+1); Y(nt)=H(1);
D(nn)=D(nn+1); D(nt)=H(nx);
t(nn)=t(nn+1); t(nt)=t(nt)+dt;
scale=1;
Xt=1+[0 1 1 0 ] + scale*H(nx);
Xr=1+[0 1 0.5 0 ] + scale*A;
Xc= scale*H;
bigtable=[bigtable(2:100,:); Xc-Xc(41)];
% set(trol, 'XData',Xt);
% set(chain,'XData',Xc);
% set(chain2,'XData',(bigtable(100-re,:)*damp+Xc(41))*(1-1/9));
% set(chain3,'XData',(bigtable(100-2*re,:)*damp^2+Xc(41))*(1-2/9));
% set(chain4,'XData',(bigtable(100-3*re,:)*damp^3+Xc(41))*(1-3/9));
% set(chain5,'XData',(bigtable(100-4*re,:)*damp^4+Xc(41))*(1-4/9));
% set(chain6,'XData',(bigtable(100-5*re,:)*damp^5+Xc(41))*(1-5/9));
% set(chain7,'XData',(bigtable(100-6*re,:)*damp^6+Xc(41))*(1-6/9));
% set(chain8,'XData',(bigtable(100-7*re,:)*damp^7+Xc(41))*(1-7/9));
% set(chain9,'XData',(bigtable(100-8*re,:)*damp^8+Xc(41))*(1-8/9));
% set(chain10,'XData',(bigtable(100-9*re,:)*damp^8+Xc(41))*0);
MATX=[Xc;...
(bigtable(100-.5*re,:)*damp^.5+Xc(41))*(1-.5/9); ...
(bigtable(100-re,:)*damp+Xc(41))*(1-1/9); ...
(bigtable(100-1.5*re,:)*damp^1.5+Xc(41))*(1-1.5/9); ...
(bigtable(100-2*re,:) *damp^2 +Xc(41))*(1-2/9); ...
(bigtable(100-2.5*re,:)*damp^2.5+Xc(41))*(1-2.5/9); ...
(bigtable(100-3*re,:) *damp^3 +Xc(41))*(1-3/9); ...
(bigtable(100-3.5*re,:)*damp^3.5+Xc(41))*(1-3.5/9); ...
(bigtable(100-4*re,:) *damp^4 +Xc(41))*(1-4/9); ...
(bigtable(100-4.5*re,:)*damp^4.5+Xc(41))*(1-4.5/9); ...
(bigtable(100-5*re,:) *damp^5 +Xc(41))*(1-5/9); ...
(bigtable(100-5.5*re,:)*damp^5.5+Xc(41))*(1-5.5/9); ...
(bigtable(100-6*re,:) *damp^6 +Xc(41))*(1-6/9); ...
(bigtable(100-6.5*re,:)*damp^6.5+Xc(41))*(1-6.5/9); ...
(bigtable(100-7*re,:) *damp^7 +Xc(41))*(1-7/9); ...
(bigtable(100-8.5*re,:)*damp^7.5+Xc(41))*(1-7.5/9); ...
(bigtable(100-8*re,:) *damp^8 +Xc(41))*(1-8/9); ...
(bigtable(100-9.5*re,:)*damp^8.5+Xc(41))*(1-8.5/9); ...
(bigtable(100-9*re,:) *damp^9 +Xc(41))*0; ...
];
set(curtain,'Xdata',1.5+MATX);
set(curtain2,'Xdata',34.5-MATX);
%set(ref,'XData',Xr);
drawnow;
end;
close(figure(1));
close(figure(2));
return
