Add flex and elasticity documentation. Fixes #873.

PiperOrigin-RevId: 574179040 Change-Id: Iaf90bbf2b2c3fe075c940c2b66b7b841f256e653
2023-10-17 09:44:58 -07:00
parent db067a3b94
commit 139a8ae298
11 changed files with 825 additions and 375 deletions
@@ -588,6 +588,14 @@ available equality constraint types are: connect two bodies at a point (creating
 tree); weld two bodies together; make two surfaces slide on each other; fix the position of a joint or tendon; couple
 the positions of two joints or two tendons via a cubic polynomial.

+Deformable
+^^^^^^^^^^
+
+These are collections of massless stretchable geometric elements (capsules, triangles or tetrahedra) connecting vertices
+that are defined within different moving body frames. These stretchable elements support collisions and contact forces,
+which are then distributed to all the interconnected bodies. Flexes also generate passive and constraint forces as
+needed to simulate deformable entities with the desired material properties.
+
 Contact pair
 ^^^^^^^^^^^^