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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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unity/Runtime/Bindings/MjBindings.cs
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@@ -1200,6 +1200,7 @@ public unsafe struct mjModel_ {
public int* flex_matid;
public int* flex_group;
public int* flex_interp;
public int* flex_cellnum;
public int* flex_nodeadr;
public int* flex_nodenum;
public int* flex_vertadr;