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Fix flex constraint Jacobian for edges belonging to a single body.

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PiperOrigin-RevId: 575161094
Change-Id: If4153bcb751cdd6dbdddeb08672f7107c7c5bbc2
This commit is contained in:
Alessio Quaglino
2023-10-20 02:48:46 -07:00
committed by Copybara-Service
parent e4a9f535a4
commit 01a932e052
12 changed files with 97 additions and 38 deletions
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src/engine/engine_derivative.c
+9 -2
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@@ -1474,9 +1474,16 @@ void mjd_passive_vel(const mjModel* m, mjData* d) {
for (int f=0; f < m->nflex; f++) {
if (!m->flex_rigid[f] && m->flex_edgedamping[f]) {
mjtNum B = -m->flex_edgedamping[f];
int flex_edgeadr = m->flex_edgeadr[f];
int flex_edgenum = m->flex_edgenum[f];
// process non-rigid edges of this flex
for (int e=flex_edgeadr; e < flex_edgeadr+flex_edgenum; e++) {
// skip rigid
if (m->flexedge_rigid[e]) {
continue;
}
// process edges of this flex
for (int e=m->flex_edgeadr[f]; e < m->flex_edgeadr[f]+m->flex_edgenum[f]; e++) {
// add sparse or dense
if (mj_isSparse(m)) {
addJTBJSparse(m, d, d->flexedge_J, &B, 1, e,