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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
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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/changelog.rst
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@@ -10,6 +10,9 @@ General
- Added :ref:`multi-cell support<body-flexcomp-cellnum>` for trilinear and quadratic flexes. Note that the implicit
integrator uses a dense solver for the flex degrees of freedom, which can be slow for multi-cell flexes.
- Refactored ``flexstrain`` equality constraints to be instantiated per cell instead of per flex object, reducing the
number of degrees of freedom per constraint row. The equality can be associated with a specific cell with the new
attribute ":ref:`cell <equality-flexstrain-cell>`
Version 3.7.0 (April 14, 2026)
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