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Add vertex-based flex constraints (dim=2).

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PiperOrigin-RevId: 859552050
Change-Id: I61d4b9dc40f041c5b930e5f8810a803e8bccb87a
This commit is contained in:
Alessio Quaglino
2026-01-22 04:54:11 -08:00
committed by Copybara-Service
parent 2cc2e579f1
commit 54dd623650
15 changed files with 705 additions and 22 deletions
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doc/includes/references.h
+9 -1
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@@ -274,6 +274,8 @@ struct mjData_ {
mjtNum* flexelem_aabb; // flex element bounding boxes (center, size) (nflexelem x 6)
mjtNum* flexedge_J; // flex edge Jacobian (nJfe x 1)
mjtNum* flexedge_length; // flex edge lengths (nflexedge x 1)
mjtNum* flexvert_J; // flex vertex Jacobian (nJfv x 2)
mjtNum* flexvert_length; // flex vertex lengths (nflexvert x 2)
mjtNum* bvh_aabb_dyn; // global bounding box (center, size) (nbvhdynamic x 6)
// computed by mj_fwdPosition/mj_tendon
@@ -1034,6 +1036,7 @@ struct mjModel_ {
int nflexevpair; // number of element-vertex pairs in all flexes
int nflextexcoord; // number of vertices with texture coordinates
int nJfe; // number of non-zeros in sparse flexedge Jacobian matrix
int nJfv; // number of non-zeros in sparse flexvert Jacobian matrix
int nmesh; // number of meshes
int nmeshvert; // number of vertices in all meshes
int nmeshnormal; // number of normals in all meshes
@@ -1328,12 +1331,13 @@ struct mjModel_ {
mjtNum* flexedge_length0; // edge lengths in qpos0 (nflexedge x 1)
mjtNum* flexedge_invweight0; // edge inv. weight in qpos0 (nflexedge x 1)
mjtNum* flex_radius; // radius around primitive element (nflex x 1)
mjtNum* flex_size; // vertex bounding box half sizes in qpos0 (nflex x 3)
mjtNum* flex_stiffness; // finite element stiffness matrix (nflexelem x 21)
mjtNum* flex_bending; // bending stiffness (nflexedge x 17)
mjtNum* flex_damping; // Rayleigh's damping coefficient (nflex x 1)
mjtNum* flex_edgestiffness; // edge stiffness (nflex x 1)
mjtNum* flex_edgedamping; // edge damping (nflex x 1)
mjtByte* flex_edgeequality; // is edge equality constraint defined (nflex x 1)
int* flex_edgeequality; // 0: none, 1: edges, 2: vertices (nflex x 1)
mjtByte* flex_rigid; // are all vertices in the same body (nflex x 1)
mjtByte* flexedge_rigid; // are both edge vertices in same body (nflexedge x 1)
mjtByte* flex_centered; // are all vertex coordinates (0,0,0) (nflex x 1)
@@ -1343,6 +1347,9 @@ struct mjModel_ {
int* flexedge_J_rownnz; // number of non-zeros in Jacobian row (nflexedge x 1)
int* flexedge_J_rowadr; // row start address in colind array (nflexedge x 1)
int* flexedge_J_colind; // column indices in sparse Jacobian (nJfe x 1)
int* flexvert_J_rownnz; // number of non-zeros in Jacobian row (nflexvert x 2)
int* flexvert_J_rowadr; // row start address in colind array (nflexvert x 2)
int* flexvert_J_colind; // column indices in sparse Jacobian (nJfv x 2)
float* flex_rgba; // rgba when material is omitted (nflex x 4)
float* flex_texcoord; // vertex texture coordinates (nflextexcoord x 2)
@@ -2186,6 +2193,7 @@ typedef struct mjsFlex_ { // flex specification
// other properties
int dim; // element dimensionality
double radius; // radius around primitive element
double size[3]; // vertex bounding box half sizes in qpos0
mjtByte internal; // enable internal collisions
mjtByte flatskin; // render flex skin with flat shading
int selfcollide; // mode for flex self collision