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Fix trilinear flexcomp with unused vertices.

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Fix a crash and dimension mismatch issue in user_flexcomp when dealing with interpolated="true" meshes that contain unused vertices. Previously, vertbody would correspond only to used vertices while vert included all vertices, leading to assertions or out-of-bounds access. Also enable node pinning for interpolated meshes.

PiperOrigin-RevId: 865881995
Change-Id: Id150f00f22b5f48896ffbffddf03c57b252de8c0
This commit is contained in:
Alessio Quaglino
2026-02-05 04:40:11 -08:00
committed by Copybara-Service
parent a52180069c
commit 6afd742f43
3 changed files with 98 additions and 4 deletions
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test/user/user_flex_test.cc
+50
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@@ -786,5 +786,55 @@ TEST_F(UserFlexTest, LoadMSHASCII_dim_missing_in_xml) {
mj_deleteModel(m);
}
TEST_F(UserFlexTest, TrilinearUnusedVertices_Crash) {
// This XML defines 5 points but only uses 4 in the element.
// The last point (2 2 2) is unused.
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<flexcomp name="test" type="direct"
point="0 0 0 1 0 0 0 1 0 0 0 1 2 2 2"
element="0 1 2 3"
dof="trilinear" dim="3">
<contact selfcollide="none"/>
</flexcomp>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(m, testing::NotNull()) << error.data();
mj_deleteModel(m);
}
TEST_F(UserFlexTest, MeshNodePinning) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<flexcomp name="test" type="direct"
point="0 0 0 1 0 0 0 1 0 0 0 1 2 2 2"
element="0 1 2 3"
dof="trilinear" dim="3">
<contact selfcollide="none"/>
<pin id="0"/>
</flexcomp>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(m, testing::NotNull()) << error.data();
// Verify that node 0 (corner) is pinned
// Trilinear 3D has 8 nodes.
// If 0 are pinned, we get 8 bodies.
// If 1 is pinned, we get 7 bodies (created) + 1 existing (the parent).
// m->nbody should reflect this. Flex bodies are added to the model.
// Model has 1 world body + flex bodies.
EXPECT_EQ(m->nbody, 1 + 7); // 1 world + 7 flex nodes (1 pinned)
mj_deleteModel(m);
}
} // namespace
} // namespace mujoco