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Refactor flex stiffness storage to support variable sizes.

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This change introduces `nflexstiffness` and `flex_stiffnessadr` to allow flex stiffness matrices to have sizes other than the fixed 21 per element. Higher-order flexes can now store larger stiffness matrices based on their number of nodes. The `flex_stiffnessadr` array provides the starting index for each flex's stiffness data within the `flex_stiffness` array.

PiperOrigin-RevId: 899632263
Change-Id: Ie49182c46c3777acf0c6b492345edfcf62fb5e44
This commit is contained in:
Alessio Quaglino
2026-04-14 09:38:17 -07:00
committed by Copybara-Service
parent 08bb6e66f1
commit 5724158593
14 changed files with 100 additions and 48 deletions
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src/engine/engine_derivative.c
+1 -1
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@@ -899,7 +899,7 @@ static void mjd_flexInterp_kernel(const mjModel* m, mjData* d, mjtFlexOp op,
}
// get stiffness and damping
mjtNum* k = m->flex_stiffness + 21*m->flex_elemadr[f];
mjtNum* k = m->flex_stiffness + m->flex_stiffnessadr[f];
// skip if rigid or no stiffness
if (m->flex_rigid[f] || k[0] == 0) {