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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_setconst.c
+6 -1
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@@ -206,8 +206,13 @@ static void set0(mjModel* m, mjData* d) {
int b1 = m->flex_vertbodyid[m->flex_vertadr[f] + m->flex_edge[2*i]];
int b2 = m->flex_vertbodyid[m->flex_vertadr[f] + m->flex_edge[2*i+1]];
// rigid edge: set to 0
if (m->flexedge_rigid[i]) {
m->flexedge_invweight0[i] = 0;
}
// accelerate edges that connect simple bodies with no rotations
if (m->body_simple[b1] == 2 && m->body_simple[b2] == 2) {
else if (m->body_simple[b1] == 2 && m->body_simple[b2] == 2) {
m->flexedge_invweight0[i] = (1/m->body_mass[b1] + 1/m->body_mass[b2])/2;
}