RegularizationParameters.h

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*/
 
#ifndef AGX_REGULARIZATION_PARAMETERS_H
#define AGX_REGULARIZATION_PARAMETERS_H
 
#include <agx/agxPhysics_export.h>
#include <agx/agx.h>
#include <agxStream/Serializable.h>
 
namespace agx
{
  class AGXPHYSICS_EXPORT RegularizationParameters : public agxStream::Serializable
  {
    public:
      enum VariableType
      {
        HOLONOMIC,
        NONHOLONOMIC,
        DEFAULT = HOLONOMIC
      };
 
    public:
      RegularizationParameters();
 
      bool isHolonomic() const;
 
      void setType( VariableType type );
 
      void setCompliance( agx::Real c );
 
      void setDamping( agx::Real d );
 
      agx::Real getCompliance() const;
 
      agx::Real getDamping() const;
 
      agx::Real getDiagonalPerturbation( agx::Real h ) const;
 
      void setDampingHalfLife( agx::Real h, agx::Real numSteps );
 
      void setDampingHalfLife( agx::Real compliance, agx::Real h, agx::Real numSteps );
 
      AGXSTREAM_DECLARE_SERIALIZABLE( agx::RegularizationParameters );
 
 
      void setIndexSetState( int8_t state );
 
 
      int8_t getIndexSetState() const;
 
    private:
      int  m_type;
      agx::Real m_compliance;
      agx::Real m_damping;
  };
 
  AGX_FORCE_INLINE bool RegularizationParameters::isHolonomic() const
  {
    return (m_type & 0xff) == HOLONOMIC;
  }
 
  AGX_FORCE_INLINE Real RegularizationParameters::getCompliance() const
  {
    return m_compliance;
  }
 
  AGX_FORCE_INLINE Real RegularizationParameters::getDamping() const
  {
    return m_damping;
  }
 
  AGX_FORCE_INLINE Real RegularizationParameters::getDiagonalPerturbation( Real h ) const
  {
    if ( isHolonomic() )
      return Real(4.0 / ( h * h * ( 1.0 + 4.0 * m_damping / h ) ) * m_compliance);
    else
      return Real(1.0) / h * m_compliance;
  }
 
 
  AGX_FORCE_INLINE int8_t RegularizationParameters::getIndexSetState() const
  {
    return (int8_t) ((m_type >> 8) & 0xff );
  }
} //namespace agx
 
#endif