BeamStiffnessDamping.h

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from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
 
#pragma once
 
#include <agxModel/export.h>
 
#include <agx/LockJoint.h>
 
namespace agxModel
{
  struct AGXMODEL_EXPORT BeamStiffnessDamping
  {
    static BeamStiffnessDamping createDefault();
 
    agx::Vec3 translationalStiffness;
 
    agx::Vec3 rotationalStiffness;
 
    agx::Vec3 translationalDampingTime;
 
    agx::Vec3 rotationalDampingTime;
 
    void apply( agx::LockJoint* lock, agx::Real scale = 1.0 ) const;
  };
 
  inline void BeamStiffnessDamping::apply( agx::LockJoint* lock, agx::Real scale /*= 1.0*/ ) const
  {
    if ( lock == nullptr )
      return;
 
    constexpr agx::Real minStiffness = 1.0E-5;
    constexpr agx::Real minDamping = 0.0;
 
    lock->setCompliance( 1.0 / std::max( translationalStiffness.x(), minStiffness ), agx::LockJoint::TRANSLATIONAL_1 );
    lock->setCompliance( 1.0 / std::max( translationalStiffness.y(), minStiffness ), agx::LockJoint::TRANSLATIONAL_2 );
    lock->setCompliance( 1.0 / std::max( scale * translationalStiffness.z(), minStiffness ), agx::LockJoint::TRANSLATIONAL_3 );
 
    lock->setCompliance( 1.0 / std::max( scale * rotationalStiffness.x(), minStiffness ), agx::LockJoint::ROTATIONAL_1 );
    lock->setCompliance( 1.0 / std::max( scale * rotationalStiffness.y(), minStiffness ), agx::LockJoint::ROTATIONAL_2 );
    lock->setCompliance( 1.0 / std::max( scale * rotationalStiffness.z(), minStiffness ), agx::LockJoint::ROTATIONAL_3 );
 
    lock->setDamping( std::max( translationalDampingTime.x(), minDamping ), agx::LockJoint::TRANSLATIONAL_1 );
    lock->setDamping( std::max( translationalDampingTime.y(), minDamping ), agx::LockJoint::TRANSLATIONAL_2 );
    lock->setDamping( std::max( translationalDampingTime.z(), minDamping ), agx::LockJoint::TRANSLATIONAL_3 );
 
    lock->setDamping( std::max( rotationalDampingTime.x(), minDamping ), agx::LockJoint::ROTATIONAL_1 );
    lock->setDamping( std::max( rotationalDampingTime.y(), minDamping ), agx::LockJoint::ROTATIONAL_2 );
    lock->setDamping( std::max( rotationalDampingTime.z(), minDamping ), agx::LockJoint::ROTATIONAL_3 );
  }
}