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Add caching for flex stiffness computation.

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This change introduces methods to cache and load the computed stiffness matrix and nodal masses for flex elements. The cache key is generated based on material properties (Young's modulus, Poisson's ratio), interpolation order, and the bounding box of the flex. This avoids redundant expensive computations when compiling models with identical flex definitions.

PiperOrigin-RevId: 874689771
Change-Id: I6d1e299baf294a984b507e2a2602b2c068610536
This commit is contained in:
Alessio Quaglino
2026-02-24 10:44:41 -08:00
committed by Copybara-Service
parent f383e60721
commit 09c7633a76
3 changed files with 140 additions and 1 deletions
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test/user/user_flex_test.cc
+40
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@@ -456,6 +456,46 @@ TEST_F(UserFlexTest, StiffnessMatrix) {
mj_deleteModel(m);
}
TEST_F(UserFlexTest, StiffnessCacheDiffersByGeometry) {
std::array<char, 1024> error;
// Create two flexes with same material but different bounding boxes
static constexpr char xml_small[] = R"(
<mujoco>
<worldbody>
<flexcomp name="test" type="grid" count="3 3 3" spacing="1 1 1" dim="3" dof="trilinear">
<contact selfcollide="none" internal="false"/>
<elasticity young="1" poisson="0.3"/>
</flexcomp>
</worldbody>
</mujoco>
)";
static constexpr char xml_large[] = R"(
<mujoco>
<worldbody>
<flexcomp name="test" type="grid" count="3 3 3" spacing="2 2 2" dim="3" dof="trilinear">
<contact selfcollide="none" internal="false"/>
<elasticity young="1" poisson="0.3"/>
</flexcomp>
</worldbody>
</mujoco>
)";
mjModel* m_small = LoadModelFromString(xml_small, error.data(), error.size());
ASSERT_THAT(m_small, NotNull()) << error.data();
mjModel* m_large = LoadModelFromString(xml_large, error.data(), error.size());
ASSERT_THAT(m_large, NotNull()) << error.data();
// Same number of nodes but different stiffness due to different geometry
EXPECT_EQ(m_small->nflexnode, m_large->nflexnode);
EXPECT_NE(m_small->flex_stiffness[0], m_large->flex_stiffness[0]);
mj_deleteModel(m_small);
mj_deleteModel(m_large);
}
TEST_F(UserFlexTest, LoadTexture) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/textured_torus_flex.xml");