Add implicit stiffness for flex_interp to mj_implicitSkip.

PiperOrigin-RevId: 867706885 Change-Id: Ic94c65b618a415609bffe3d69a86f9034f2d2400
2026-02-09 11:53:56 -08:00
parent c1b3b3063e
commit 0041fdcbb0
9 changed files with 910 additions and 70 deletions
@@ -20,6 +20,10 @@ Significant new features
 - Added new :ref:`flexvert<equality-flexvert>` equality constraints that enable cloth simulations with coarser meshes.
  This adds a new option ``vert`` to flexcomp edge :ref:`equality<flexcomp-edge-equality>` and the new equality type
  :ref:`flexvert<equality-flexvert>`.
+- Added implicit integration support for deformable objects (flex) in ``implicit`` and ``implicitfast``
+  :ref:`integrators<geIntegration>`. This method extracts the flex degrees of freedom and solves them as a dense block,
+  enabling increased stability for stiff flex objects without reducing the timestep. It is compatible with the
+  ``trilinear`` and ``quadratic`` :ref:`dof<body-flexcomp-dof>` types.

 .. container:: custom-clear