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Refactor flex strain constraints to be per-cell.

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Each mjEQ_FLEXSTRAIN equality now represents a single cell within a flex. This allows for more efficient sparse Jacobian computation by only considering the degrees of freedom of the nodes within each specific cell. This change gives a speedup of about 10x on a 3x3x3 model.

PiperOrigin-RevId: 902164069
Change-Id: I78eedf1d5cf39b8989fe9863c22d164922fc0efb
This commit is contained in:
Alessio Quaglino
2026-04-19 07:20:49 -07:00
committed by Copybara-Service
parent a9e61966b5
commit 3d45a33190
7 changed files with 289 additions and 256 deletions
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doc/XMLschema.rst
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@@ -2062,6 +2062,9 @@
.. grid-item::
:ref:`flex<equality-flexstrain-flex>`
.. grid-item::
:ref:`cell<equality-flexstrain-cell>`
.. grid-item::
:ref:`active<equality-flexstrain-active>`