chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Refactor flex stiffness storage to support variable sizes.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
test/user/user_flex_test.cc
+5 -3
View File
@@ -447,7 +447,7 @@ TEST_F(UserFlexTest, StiffnessMatrix) {
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
EXPECT_NE(m->flex_stiffness[0], 0);
EXPECT_NE(m->flex_stiffness[m->flex_stiffnessadr[0]], 0);
EXPECT_EQ(m->nflexnode, 8);
// constants are in the kernel
@@ -456,7 +456,8 @@ TEST_F(UserFlexTest, StiffnessMatrix) {
zeros[i] = 0;
ones[i] = 1;
}
mju_mulMatVec(res, m->flex_stiffness, ones, 3*m->nflexnode, 3*m->nflexnode);
mju_mulMatVec(res, m->flex_stiffness + m->flex_stiffnessadr[0], ones,
3 * m->nflexnode, 3 * m->nflexnode);
EXPECT_THAT(res, Pointwise(MjNear(1e-8, 1e-4), zeros));
mj_deleteModel(m);
@@ -496,7 +497,8 @@ TEST_F(UserFlexTest, StiffnessCacheDiffersByGeometry) {
// Same number of nodes but different stiffness due to different geometry
EXPECT_EQ(m_small->nflexnode, m_large->nflexnode);
EXPECT_NE(m_small->flex_stiffness[0], m_large->flex_stiffness[0]);
EXPECT_NE(m_small->flex_stiffness[m_small->flex_stiffnessadr[0]],
m_large->flex_stiffness[m_large->flex_stiffnessadr[0]]);
mj_deleteModel(m_small);
mj_deleteModel(m_large);