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Reduce flex stiffness and bending memory size to the exact amount needed.

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PiperOrigin-RevId: 911774147
Change-Id: I3b18eba23e75ec91ece8342945f25e0cd7c63a1a
This commit is contained in:
Alessio Quaglino
2026-05-06 23:52:46 -07:00
committed by Copybara-Service
parent b6aac76cc4
commit 0c05215e18
5 changed files with 70 additions and 81 deletions
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src/engine/engine_core_constraint.c
+14 -6
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@@ -832,9 +832,14 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
// read eigenmode data from flex_stiffness
int ndof_elem = 3 * npe;
const mjtNum* k_elem = m->flex_stiffness + m->flex_stiffnessadr[f]
+ elem_idx * ndof_elem * ndof_elem;
int neig = (int)k_elem[0];
int stiffnessadr = m->flex_stiffnessadr[f];
int neig = 0;
const mjtNum* k_elem = NULL;
if (stiffnessadr >= 0) {
k_elem = m->flex_stiffness + stiffnessadr
+ elem_idx * ndof_elem * ndof_elem;
neig = (int)k_elem[0];
}
// compute displacement in corotational frame
mjtNum* displ_e = mjSTACKALLOC(d, ndof_elem, mjtNum);
@@ -2387,9 +2392,12 @@ static int mj_ne(const mjModel* m, mjData* d, int* nnz) {
// read eigenmode count from flex_stiffness
int ndof_elem = 3 * npe;
const mjtNum* k_elem = m->flex_stiffness + m->flex_stiffnessadr[f]
+ elem_idx * ndof_elem * ndof_elem;
size = (int)k_elem[0]; // neig stored as first element
size = 0;
if (m->flex_stiffnessadr[f] >= 0) {
const mjtNum* k_elem = m->flex_stiffness + m->flex_stiffnessadr[f]
+ elem_idx * ndof_elem * ndof_elem;
size = (int)k_elem[0]; // neig stored as first element
}
if (nnz) {
// get element node body IDs