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_passive.h
+1 -3
View File
@@ -28,9 +28,7 @@ extern "C" {
// all passive forces
MJAPI void mj_passive(const mjModel* m, mjData* d);
// compute interpolated flex state: xpos, vel, quat
MJAPI void mj_flexInterpState(const mjModel* m, mjData* d, int f,
mjtNum* xpos, mjtNum* vel, mjtNum* quat);
//------------------------- fluid models -----------------------------------------------------------