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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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wasm/codegen/generated/bindings.cc
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@@ -10868,6 +10868,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.value("mjEQ_TENDON", mjEQ_TENDON)
.value("mjEQ_FLEX", mjEQ_FLEX)
.value("mjEQ_FLEXVERT", mjEQ_FLEXVERT)
.value("mjEQ_FLEXSTRAIN", mjEQ_FLEXSTRAIN)
.value("mjEQ_DISTANCE", mjEQ_DISTANCE);
enum_<mjtEvent>("mjtEvent")
.value("mjEVENT_NONE", mjEVENT_NONE)