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Implement multi-cell finite element method for interpolated flexes.

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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
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src/engine/engine_util_misc.h
+13 -1
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@@ -89,8 +89,20 @@ MJAPI void mju_defGradient(mjtNum res[9], const mjtNum p[3], const mjtNum* dof,
// evaluate the basis function at x for the i-th node
MJAPI mjtNum mju_evalBasis(const mjtNum x[3], int i, int order);
// map global parametric coord to cell-local coord and build node indices
MJAPI int mju_cellLookup(const mjtNum coord[3], const int cellnum[3], int order, mjtNum local[3],
int* nodeindices);
// interpolate a function at x with given interpolation coefficients and order n
MJAPI void mju_interpolate3D(mjtNum res[3], const mjtNum x[3], const mjtNum* coeff, int order);
MJAPI void mju_interpolate3D(mjtNum res[3], const mjtNum x[3], const mjtNum* coeff, int order,
const int* nodeindices);
// gather cell-local quantities and optionally compute rotation
MJAPI void mju_flexGatherCellState(int order, int cy, int cz, int ci, int cj, int ck,
const mjtNum* xpos_g, const mjtNum* vel_g,
const mjtNum* xpos0_g, mjtNum* xpos_c, mjtNum* vel_c,
mjtNum* xpos0_c, int* nodeindices, mjtNum* quat);
// ----------------------------- Base64 ------------------------------------------------------------