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Introduces a new "strain" equality mode (flex_edgeequality = 3) for flexcomps with trilinear interpolation. This mode enforces constraints on the three invariants of the Green-Lagrange strain tensor at 8 Gauss quadrature points within each flex element, resulting in 24 equality constraints per flexcomp.

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Also fixes a bug when attaching a flex with constraints.

PiperOrigin-RevId: 881349765
Change-Id: I8e6df8239488bfdc87d7e5b473568975e38c737e
This commit is contained in:
Alessio Quaglino
2026-03-10 04:25:19 -07:00
committed by Copybara-Service
parent fe6c81ed93
commit 713b5524bc
23 changed files with 899 additions and 48 deletions
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doc/changelog.rst
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@@ -15,6 +15,8 @@ General
``ten_J_colind`` have been moved from :ref:`mjData` to :ref:`mjModel` and are no longer computed at run time by
``mj_tendon`` but at compile time.
- Added a new ``strain`` :ref:`equality constraint<flexcomp-edge-equality>` type for trilinear and quadratic
:ref:`dofs<body-flexcomp-dof>`.
- Flexes now support collisions with SDF geoms.
- Improved memory requirements for ``ten_J`` and ``ten_J_colind`` by reducing the upper bound for the number
of non-zeros ``nJten``.