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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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src/user/user_flexcomp.cc
+8 -1
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@@ -644,7 +644,14 @@ bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz, const mjVFS* vf
if (equality) {
mjsEquality* pe = mjs_addEquality(&model->spec, &def.spec);
mjs_setDefault(pe->element, &model->Default()->spec);
pe->type = equality == 1 ? mjEQ_FLEX : mjEQ_FLEXVERT;
// equality 1=edge(mjEQ_FLEX), 2=vert(mjEQ_FLEXVERT), 3=strain(mjEQ_FLEXSTRAIN)
if (equality == 1) {
pe->type = mjEQ_FLEX;
} else if (equality == 2) {
pe->type = mjEQ_FLEXVERT;
} else if (equality == 3) {
pe->type = mjEQ_FLEXSTRAIN;
}
pe->active = true;
mjs_setString(pe->name1, name.c_str());
}