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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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src/xml/xml_native_writer.cc
+4
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@@ -728,8 +728,12 @@ void mjXWriter::OneEquality(XMLElement* elem, const mjCEquality* equality, mjCDe
case mjEQ_FLEX:
case mjEQ_FLEXVERT:
WriteAttrTxt(elem, "flex", mjs_getString(equality->name1));
break;
case mjEQ_FLEXSTRAIN:
WriteAttrTxt(elem, "flex", mjs_getString(equality->name1));
WriteAttr(elem, "cell", 3, equality->data);
break;
default: