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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_objects.cc
+3 -2
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@@ -6292,7 +6292,7 @@ void mjCEquality::ResolveReferences(const mjCModel* m) {
object_type = mjOBJ_JOINT;
} else if (type == mjEQ_TENDON) {
object_type = mjOBJ_TENDON;
} else if (type == mjEQ_FLEX || type == mjEQ_FLEXVERT) {
} else if (type == mjEQ_FLEX || type == mjEQ_FLEXVERT || type == mjEQ_FLEXSTRAIN) {
object_type = mjOBJ_FLEX;
} else {
throw mjCError(this, "invalid type in equality constraint");
@@ -6349,7 +6349,8 @@ void mjCEquality::Compile(void) {
ResolveReferences(model);
// make sure flex is not rigid
if ((type == mjEQ_FLEX || type == mjEQ_FLEXVERT) && model->Flexes()[obj1id]->rigid) {
if ((type == mjEQ_FLEX || type == mjEQ_FLEXVERT || type == mjEQ_FLEXSTRAIN) &&
model->Flexes()[obj1id]->rigid) {
throw mjCError(this, "rigid flex '%s' in equality constraint %d", name1_.c_str(), id);
}
}