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Optimize flex by pinning nodes in empty cells.

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This change introduces an optimization for flexcomp objects defined by a mesh. It identifies grid cells that do not contain any mesh vertices and marks them as empty. Nodes that are exclusively part of empty cells are pinned, preventing them from moving. Stiffness computations are skipped for empty cells, reducing computational cost. The total mass is now distributed only among the non-pinned nodes.

PiperOrigin-RevId: 902565735
Change-Id: Id0a9a685536d5e18a3e42124a25ab08ff3a918f2
This commit is contained in:
Alessio Quaglino
2026-04-20 04:40:34 -07:00
committed by Copybara-Service
parent fa7b36d111
commit 508e581ba9
12 changed files with 455 additions and 90 deletions
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src/engine/engine_vis_visualize.c
+11 -4
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@@ -1459,11 +1459,18 @@ static void addFlexBvhGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
for (int i=0; i < NX; i++) {
for (int j=0; j < NY; j++) {
for (int k=0; k < NZ; k++) {
int offset = 3*(i*NY*NZ + j*NZ + k);
int n0 = i*NY*NZ + j*NZ + k;
// skip if this node is pinned (no joints on its body)
if (m->body_jntnum[bodyid[n0]] == 0) {
continue;
}
int offset = 3*n0;
int offset1 = 3*((i+1)*NY*NZ + j*NZ + k);
int offset2 = 3*(i*NY*NZ + (j+1)*NZ + k);
int offset3 = 3*(i*NY*NZ + j*NZ + (k+1));
if (i < NX-1) {
if (i < NX-1 && m->body_jntnum[bodyid[(i+1)*NY*NZ + j*NZ + k]] > 0) {
mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
if (!thisgeom) {
return;
@@ -1472,7 +1479,7 @@ static void addFlexBvhGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
mjv_connector(thisgeom, mjGEOM_LINE, 3, xpos+offset, xpos+offset1);
releaseGeom(&thisgeom, scn);
}
if (j < NY-1) {
if (j < NY-1 && m->body_jntnum[bodyid[i*NY*NZ + (j+1)*NZ + k]] > 0) {
mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
if (!thisgeom) {
return;
@@ -1481,7 +1488,7 @@ static void addFlexBvhGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
mjv_connector(thisgeom, mjGEOM_LINE, 3, xpos+offset, xpos+offset2);
releaseGeom(&thisgeom, scn);
}
if (k < NZ-1) {
if (k < NZ-1 && m->body_jntnum[bodyid[i*NY*NZ + j*NZ + (k+1)]] > 0) {
mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
if (!thisgeom) {
return;