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Add quadratic stiffness to flex.

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PiperOrigin-RevId: 827409919
Change-Id: I3dff8ea49fb1726fec4acf5b91138d6d52c4bfba
This commit is contained in:
Alessio Quaglino
2025-11-03 03:00:18 -08:00
committed by Copybara-Service
parent d4f13b4abc
commit 3a7aa84e53
10 changed files with 161 additions and 65 deletions
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src/engine/engine_passive.c
+3 -3
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@@ -206,8 +206,8 @@ static void mj_springdamper(const mjModel* m, mjData* d) {
}
if (m->flex_interp[f]) {
mjtNum xpos[mjMAXFLEXNODES], displ[mjMAXFLEXNODES], vel[mjMAXFLEXNODES];
mjtNum frc[mjMAXFLEXNODES], dmp[mjMAXFLEXNODES];
mjtNum xpos[3*mjMAXFLEXNODES], displ[3*mjMAXFLEXNODES], vel[3*mjMAXFLEXNODES];
mjtNum frc[3*mjMAXFLEXNODES], dmp[3*mjMAXFLEXNODES];
mjtNum com[3] = {0};
mjtNum* xpos0 = m->flex_node0 + 3*m->flex_nodeadr[f];
int* bodyid = m->flex_nodebodyid + m->flex_nodeadr[f];
@@ -242,7 +242,7 @@ static void mj_springdamper(const mjModel* m, mjData* d) {
// compute the Jacobian at the center of mass
mjtNum mat[9] = {0};
mjtNum p[3] = {.5, .5, .5};
mju_defGradient(mat, p, xpos, 1);
mju_defGradient(mat, p, xpos, m->flex_interp[f]);
// find rotation
mjtNum quat[4] = {1, 0, 0, 0};