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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.h
+1 -1
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@@ -83,7 +83,7 @@ class mjCFlexcomp {
double origin[3]; // origin for generating a 3D mesh from a convex 2D mesh
double mass; // total mass of auto-generated bodies
double inertiabox; // size of inertia box for each body
int equality; // create equality constraint, 0:none, 1:edge, 2:vert
int equality; // create equality constraint, 0:none, 1:edge, 2:vert, 3:strain
std::string file; // mesh/gmsh file name
mjtDof doftype; // dof type, all vertices or trilinear interpolation