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

Implement multi-cell finite element method for interpolated flexes.

Browse Source 
This change introduces a `flex_cellcount` field to `mjModel` to specify the number of cells in each dimension for interpolated flexes. The stiffness computation, passive force calculation, and Jacobian derivatives are updated to operate on a per-cell basis, significantly improving performance by localizing computations to the nodes within each cell.

PiperOrigin-RevId: 901216393
Change-Id: Ic23132e609de11e71bb7fef8d1f139daad2ec264
This commit is contained in:
Alessio Quaglino
2026-04-17 04:10:54 -07:00
committed by Copybara-Service
parent 8415dff307
commit 6c7ed66781
36 changed files with 1777 additions and 1039 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_core_util.h
+3
View File
@@ -129,6 +129,9 @@ MJAPI void mj_local2Global(mjData* d, mjtNum xpos[3], mjtNum xmat[9],
//-------------------------- miscellaneous ---------------------------------------------------------
// gather global node positions and velocities
MJAPI void mju_flexGatherState(const mjModel* m, mjData* d, int f, mjtNum* xpos, mjtNum* vel);
// extract 6D force:torque for one contact, in contact frame
MJAPI void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]);