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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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src/user/user_model.cc
+29 -1
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@@ -1155,6 +1155,7 @@ void mjCModel::Clear() {
nflexevpair = 0;
nflextexcoord = 0;
nJfe = 0;
nJfv = 0;
nmeshvert = 0;
nmeshnormal = 0;
nmeshtexcoord = 0;
@@ -2166,6 +2167,31 @@ void mjCModel::SetSizes() {
nJfe += b->dofnum;
}
}
// compute nJfv
std::vector<std::vector<int>> adj(flexes_[i]->nvert);
for (const auto& edge : flexes_[i]->edge) {
adj[edge.first].push_back(edge.second);
adj[edge.second].push_back(edge.first);
}
for (int j=0; j < flexes_[i]->nvert; j++) {
std::unordered_set<int> vert_bodies;
vert_bodies.insert(flexes_[i]->vertbodyid[j]);
for (int neighbor : adj[j]) {
vert_bodies.insert(flexes_[i]->vertbodyid[neighbor]);
}
std::unordered_set<mjCBody*> bodies_in_jac;
for (int body_id : vert_bodies) {
mjCBody* b = bodies_[body_id];
while (b) {
bodies_in_jac.insert(b);
b = b->parent;
}
}
for (mjCBody* b : bodies_in_jac) {
nJfv += b->dofnum;
}
}
}
// mesh counts
@@ -3288,6 +3314,7 @@ void mjCModel::CopyObjects(mjModel* m) {
mjuu_copyvec(m->flex_solref + mjNREF * i, pfl->solref, mjNREF);
mjuu_copyvec(m->flex_solimp + mjNIMP * i, pfl->solimp, mjNIMP);
m->flex_radius[i] = (mjtNum)pfl->radius;
mjuu_copyvec(m->flex_size + 3 * i, pfl->size, 3);
mjuu_copyvec(m->flex_friction + 3 * i, pfl->friction, 3);
m->flex_margin[i] = (mjtNum)pfl->margin;
m->flex_gap[i] = (mjtNum)pfl->gap;
@@ -3363,6 +3390,7 @@ void mjCModel::CopyObjects(mjModel* m) {
m->flex_edgeequality[i] = 1;
break;
}
// TODO: support flex_edgeequality = 2
}
// copy bvh data (flex aabb computed dynamically in mjData)
@@ -4856,7 +4884,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
mj_makeModel(&m,
nq, nv, nu, na, nbody, nbvh, nbvhstatic, nbvhdynamic, noct, njnt, ntree, nM, nB, nC,
nD, ngeom, nsite, ncam, nlight, nflex, nflexnode, nflexvert, nflexedge, nflexelem,
nflexelemdata, nflexelemedge, nflexshelldata, nflexevpair, nflextexcoord, nJfe,
nflexelemdata, nflexelemedge, nflexshelldata, nflexevpair, nflextexcoord, nJfe, nJfv,
nmesh, nmeshvert, nmeshnormal, nmeshtexcoord, nmeshface, nmeshgraph, nmeshpoly,
nmeshpolyvert, nmeshpolymap, nskin, nskinvert, nskintexvert, nskinface, nskinbone,
nskinbonevert, nhfield, nhfielddata, ntex, ntexdata, nmat, npair, nexclude,