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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/user/user_flexcomp.cc
+6 -1
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@@ -535,6 +535,7 @@ bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz) {
std::vector<double> node(3*(order+1)*(order+1)*(order+1), 0);
int idx = 0;
double step = 1.0 / (double)order;
double massP2[3] = {1. / 6., 2. / 3., 1. / 6.};
for (int i=0; i <= order; i++) {
for (int j=0; j <= order; j++) {
for (int k=0; k <= order; k++) {
@@ -552,7 +553,11 @@ bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz) {
pb->pos[1] = minmax[1] + j * step * (minmax[4] - minmax[1]);
pb->pos[2] = minmax[2] + k * step * (minmax[5] - minmax[2]);
mjuu_zerovec(pb->ipos, 3);
pb->mass = mass / 8;
if (doftype == mjFCOMPDOF_TRILINEAR) {
pb->mass = mass / 8;
} else {
pb->mass = mass * massP2[i] * massP2[j] * massP2[k];
}
pb->inertia[0] = pb->mass*(2.0*inertiabox*inertiabox)/3.0;
pb->inertia[1] = pb->mass*(2.0*inertiabox*inertiabox)/3.0;
pb->inertia[2] = pb->mass*(2.0*inertiabox*inertiabox)/3.0;