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

PiperOrigin-RevId: 911774147 Change-Id: I3b18eba23e75ec91ece8342945f25e0cd7c63a1a
2026-05-06 23:52:46 -07:00
parent b6aac76cc4
commit 0c05215e18
5 changed files with 70 additions and 81 deletions
@@ -951,7 +951,11 @@ static void mjd_flexInterp_kernel(const mjModel* m, mjData* d, mjtFlexOp op,
    }

    // get stiffness and damping
-    mjtNum* K = m->flex_stiffness + m->flex_stiffnessadr[f];
+    int stiffnessadr = m->flex_stiffnessadr[f];
+    if (stiffnessadr < 0) {
+      continue;
+    }
+    mjtNum* K = m->flex_stiffness + stiffnessadr;

    // skip if rigid or no stiffness
    if (m->flex_rigid[f] || K[0] == 0) {