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Change flex constraints to eigenmodes of the stiffness matrix.

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This provides a reduction from 26 to 18 constraints for trilinear and from 162 to 75 for quadratic. The assembly of the constraints becomes trivial. In total the speedup for a trilinear 3x3x3 grid is about 3x.

PiperOrigin-RevId: 902502398
Change-Id: I764772c7adef78da5a644f64701f842d36e4b543
This commit is contained in:
Alessio Quaglino
2026-04-20 02:02:01 -07:00
committed by Copybara-Service
parent bf9be2c312
commit 3230cf99f9
12 changed files with 523 additions and 327 deletions
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src/user/user_flexcomp.cc
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@@ -691,6 +691,7 @@ bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz, const mjVFS* vf
mjs_setString(pe->name1, name.c_str());
} else if (equality == 3) {
// create one strain constraint per cell, storing cell index in eq_data
flex->has_strain_eq = true;
int cell_cx = flex->spec.cellcount[0];
int cell_cy = flex->spec.cellcount[1];
int cell_cz = flex->spec.cellcount[2];