chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_passive.c
+28 -7
View File
@@ -62,7 +62,12 @@ static void inline GradSquaredLengths(mjtNum gradient[6][2][3],
// passive forces for interpolated flex (stretch + bending)
static void mj_flexPassiveInterp(const mjModel* m, mjData* d, int f,
int enbl_spring, int enbl_damper) {
mjtNum* k = m->flex_stiffness + m->flex_stiffnessadr[f];
int stiffnessadr = m->flex_stiffnessadr[f];
if (stiffnessadr < 0) {
return;
}
mjtNum* k = m->flex_stiffness + stiffnessadr;
int nodenum = m->flex_nodenum[f];
int order = m->flex_interp[f];
@@ -230,8 +235,17 @@ static inline mjtNum mju_dphi2D(mjtNum s0, int l0, mjtNum s1, int l1,
// accuracy for elements with varying curvature.
static void mj_flexPassiveBendInterp(const mjModel* m, mjData* d, int f,
int enbl_spring, int enbl_damper) {
if (m->flex_interp[f] >= 0) {
return;
}
int bendingadr = m->flex_bendingadr[f];
if (bendingadr < 0) {
return;
}
// read bending edge data
const mjtNum* bdata = m->flex_bending + m->flex_bendingadr[f];
const mjtNum* bdata = m->flex_bending + bendingadr;
int nedge = (int)bdata[0];
if (nedge == 0) return;
@@ -398,10 +412,15 @@ static void mj_flexPassiveBend(const mjModel* m, mjData* d, int f,
return;
}
int bendingadr = m->flex_bendingadr[f];
if (bendingadr < 0) {
return;
}
int edgenum = m->flex_edgenum[f];
mjtNum* xpos = d->flexvert_xpos + 3*m->flex_vertadr[f];
int* bodyid = m->flex_vertbodyid + m->flex_vertadr[f];
mjtNum* b = m->flex_bending + 17*m->flex_edgeadr[f];
mjtNum* b = m->flex_bending + bendingadr;
for (int e = 0; e < edgenum; e++) {
const int* edge = m->flex_edge + 2*(e+m->flex_edgeadr[f]);
@@ -469,7 +488,11 @@ static void mj_flexPassiveBend(const mjModel* m, mjData* d, int f,
// passive forces for flex stretch
static void mj_flexPassiveStretch(const mjModel* m, mjData* d, int f,
int enbl_spring, int enbl_damper) {
mjtNum* k = m->flex_stiffness + m->flex_stiffnessadr[f];
int stiffnessadr = m->flex_stiffnessadr[f];
if (stiffnessadr < 0) {
return;
}
mjtNum* k = m->flex_stiffness + stiffnessadr;
if (k[0] == 0) {
return;
}
@@ -660,9 +683,7 @@ static void mj_springdamper(const mjModel* m, mjData* d) {
mj_flexPassiveInterp(m, d, f, enbl_spring, enbl_damper);
// interpolated shell bending forces
if (m->flex_interp[f] < 0) {
mj_flexPassiveBendInterp(m, d, f, enbl_spring, enbl_damper);
}
mj_flexPassiveBendInterp(m, d, f, enbl_spring, enbl_damper);
} else {
// add bending forces
mj_flexPassiveBend(m, d, f, enbl_spring, enbl_damper);