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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/xml/xml_native_writer.cc
+7
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@@ -141,6 +141,13 @@ void mjXWriter::OneFlex(XMLElement* elem, const mjCFlex* flex) {
WriteAttrKey(elem, "flatskin", bool_map, 2, flex->flatskin, defflex.flatskin);
WriteAttrInt(elem, "dim", flex->dim, defflex.dim);
WriteAttrInt(elem, "group", flex->group, defflex.group);
WriteAttr(elem, "cellcount", 3, flex->spec.cellcount, defflex.spec.cellcount);
if (flex->spec.order != defflex.spec.order) {
string dof_str = "full";
if (flex->spec.order == 1) dof_str = "trilinear";
else if (flex->spec.order == 2) dof_str = "quadratic";
WriteAttrTxt(elem, "dof", dof_str);
}
// data vectors
if (!flex->get_vertbody().empty()) {