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Add dof="2d" option to flexcomp for in-plane deformations.

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PiperOrigin-RevId: 902620719
Change-Id: Ib06d3f7b9439e1d90a8373a4289ade0c327e72e4
This commit is contained in:
Alessio Quaglino
2026-04-20 07:13:17 -07:00
committed by Copybara-Service
parent cad734ae70
commit 2d12dee025
6 changed files with 513 additions and 2 deletions
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test/user/user_flex_test.cc
+65
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@@ -1227,6 +1227,71 @@ TEST_F(UserFlexTest, TotalMassQuadratic) {
mj_deleteModel(m);
}
TEST_F(UserFlexTest, Dof2d) {
// 3x3 grid with dof="2d": 9 vertices, 2 DOFs each -> nv = 18
static constexpr char xml_2d[] = R"(
<mujoco>
<worldbody>
<flexcomp name="test" type="grid" count="3 3 1" spacing=".1 .1 .1"
dim="2" radius=".01" dof="2d">
<edge equality="true"/>
</flexcomp>
</worldbody>
</mujoco>
)";
// same model with dof="full" for comparison: 9 vertices, 3 DOFs each -> nv = 27
static constexpr char xml_full[] = R"(
<mujoco>
<worldbody>
<flexcomp name="test" type="grid" count="3 3 1" spacing=".1 .1 .1"
dim="2" radius=".01">
<edge equality="true"/>
</flexcomp>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
// load 2d model
mjModel* m_2d = LoadModelFromString(xml_2d, error.data(), error.size());
ASSERT_THAT(m_2d, NotNull()) << error.data();
mjData* d_2d = mj_makeData(m_2d);
// load full model
mjModel* m_full = LoadModelFromString(xml_full, error.data(), error.size());
ASSERT_THAT(m_full, NotNull()) << error.data();
mjData* d_full = mj_makeData(m_full);
// verify DOF counts
EXPECT_EQ(m_2d->nv, 18); // 9 vertices * 2 DOFs
EXPECT_EQ(m_full->nv, 27); // 9 vertices * 3 DOFs
// same number of vertices and elements
EXPECT_EQ(m_2d->nflexvert, m_full->nflexvert);
EXPECT_EQ(m_2d->nflexelem, m_full->nflexelem);
// each body has 2 DOFs in 2d mode, 3 in full mode
for (int i = 1; i < m_2d->nbody; i++) {
EXPECT_EQ(m_2d->body_dofnum[i], 2) << "body " << i;
}
for (int i = 1; i < m_full->nbody; i++) {
EXPECT_EQ(m_full->body_dofnum[i], 3) << "body " << i;
}
// simulate a few steps to make sure nothing crashes
for (int i = 0; i < 10; i++) {
mj_step(m_2d, d_2d);
mj_step(m_full, d_full);
}
mj_deleteModel(m_2d);
mj_deleteModel(m_full);
mj_deleteData(d_2d);
mj_deleteData(d_full);
}
} // namespace
} // namespace mujoco