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Scale flex warp constraint by thickness^3.

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Warp is not a true stretch mode but a parasitic shear mode so it should be scaled like bending (~thickness^3) rather than stretching (~thickness). The thickness parameter can therefore be used to set the stretch to warp stiffness ratio of the strain constraints.

PiperOrigin-RevId: 916900311
Change-Id: I52e54210fbb2a6d309abc1f084934830adce3423
This commit is contained in:
Alessio Quaglino
2026-05-17 14:32:43 -07:00
committed by Copybara-Service
parent 8a20ce24d3
commit 66d764a116
2 changed files with 16 additions and 11 deletions
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model/flex/hollow_vs_solid.xml
+1 -1
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@@ -50,7 +50,7 @@
origin="0 0 0" count="8 2 12" cellcount="6 1 6"
type="grid" name="soft_mesh_2" dim="3" spacing=".025 .05 .025"
mass="0.43" radius="0.005" dof="trilinear" rgba="0.9 0.7 0.7 1">
<elasticity young="1e4" poisson="0.3" damping="0" elastic2d="bend" thickness="0.03"/>
<elasticity young="1e4" poisson="0.3" damping="0" elastic2d="bend" thickness="0.02"/>
<edge equality="strain" solref="0.001 1" solimp="0.99 0.999 0.001"/>
<contact selfcollide="none"
internal="false"