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Add flex elasticity stiffness matrix to mjModel.

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PiperOrigin-RevId: 675101645
Change-Id: Ic169c108b9eece3657ea4ec211df357abe615b7e
This commit is contained in:
Alessio Quaglino
2024-09-16 04:59:55 -07:00
committed by Copybara-Service
parent c77babe046
commit 2da15cf137
12 changed files with 71 additions and 29 deletions
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plugin/elasticity/membrane.cc
+4 -5
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@@ -129,9 +129,6 @@ Membrane::Membrane(const mjModel* m, mjData* d, int instance, mjtNum nu,
// generate triangles from the vertices
nt = CreateStencils<Stencil2D>(elements, edges, simplex, edgeidx);
// allocate metric induced by geometry
metric.assign(kNumEdges*kNumEdges*nt, 0);
// loop over all triangles
for (int t = 0; t < nt; t++) {
int* v = elements[t].vertices;
@@ -160,7 +157,9 @@ Membrane::Membrane(const mjModel* m, mjData* d, int instance, mjtNum nu,
}
// compute metric tensor
MetricTensor<Stencil2D>(metric, t, mu, la, basis);
// TODO: do not write in a const mjModel
MetricTensor<Stencil2D>(m->flex_stiffness + 21 * m->flex_elemadr[f0], t, mu,
la, basis);
}
// allocate array
@@ -196,7 +195,7 @@ void Membrane::Compute(const mjModel* m, mjData* d, int instance) {
mjtNum* xpos = d->flexvert_xpos + 3*flex_vertadr;
mjtNum* qfrc = d->qfrc_passive;
ComputeForce<Stencil2D>(force, elements, metric, elongation, m, xpos);
ComputeForce<Stencil2D>(force, elements, elongation, m, f0, xpos);
// insert into passive force
AddFlexForce(qfrc, force, m, d, xpos, f0);