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Move bending stiffness from plugin to the compiler.

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PiperOrigin-RevId: 758677644
Change-Id: I7d5c5140ba6948002bfa4ae9d6b4bf0f6de0e39b
This commit is contained in:
Alessio Quaglino
2025-05-14 07:38:25 -07:00
committed by Copybara-Service
parent d8bebdc675
commit 71bdd915f7
23 changed files with 134 additions and 154 deletions
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doc/XMLreference.rst
+7 -1
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@@ -3627,9 +3627,10 @@ element is used to adjust the properties of all edges in the flex.
.. _flexcomp-elasticity-poisson:
.. _flexcomp-elasticity-damping:
.. _flexcomp-elasticity-thickness:
.. _flexcomp-elasticity-elastic2d:
.. |body/flexcomp/elasticity attrib list| replace::
:at:`young`, :at:`poisson`, :at:`damping`, :at:`thickness`
:at:`young`, :at:`poisson`, :at:`damping`, :at:`thickness`, :at:`elastic2d`
|body/flexcomp/elasticity attrib list|
Same as in :ref:`flex/elasticity<flex-elasticity>`.
@@ -4070,6 +4071,11 @@ stress-strain relationship.. See also :ref:`deformable <CDeformable>` objects.
This thickness can be set equal to 2 times the :ref:`radius <deformable-flex-radius>` in order to match the geometry,
but is exposed separately since the radius might be constrained by considerations related to collision detection.
.. _flex-elasticity-elastic2d:
:at:`elastic2d`: :at-val:`int, "1"`
Elastic contribution to passive forces of 2D flexes. 0: none, 1: bending only, 2: stretching only, 3: bending and
stretching
.. _flex-contact:
doc/XMLschema.rst
+4
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@@ -443,6 +443,8 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`young<flexcomp-elasticity-young>` | :ref:`poisson<flexcomp-elasticity-poisson>` | :ref:`damping<flexcomp-elasticity-damping>` | :ref:`thickness<flexcomp-elasticity-thickness>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`elastic2d<flexcomp-elasticity-elastic2d>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| flexcomp |br| |_2| |L| | | .. table:: |
| :ref:`contact | ? | :class: mjcf-attributes |
@@ -520,6 +522,8 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`young<flex-elasticity-young>` | :ref:`poisson<flex-elasticity-poisson>` | :ref:`damping<flex-elasticity-damping>` | :ref:`thickness<flex-elasticity-thickness>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`elastic2d<flex-elasticity-elastic2d>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| deformable |br| |_| |L| | | .. table:: |
| :ref:`skin | \* | :class: mjcf-attributes |
doc/includes/references.h
+2
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@@ -1246,6 +1246,7 @@ struct mjModel_ {
mjtNum* flexedge_invweight0; // edge inv. weight in qpos0 (nflexedge x 1)
mjtNum* flex_radius; // radius around primitive element (nflex x 1)
mjtNum* flex_stiffness; // finite element stiffness matrix (nflexelem x 21)
mjtNum* flex_bending; // bending stiffness (nflexedge x 16)
mjtNum* flex_damping; // Rayleigh's damping coefficient (nflex x 1)
mjtNum* flex_edgestiffness; // edge stiffness (nflex x 1)
mjtNum* flex_edgedamping; // edge damping (nflex x 1)
@@ -2078,6 +2079,7 @@ typedef struct mjsFlex_ { // flex specification
double poisson; // Poisson's ratio
double damping; // Rayleigh's damping
double thickness; // thickness (2D only)
int elastic2d; // 2D passive forces; 0: none, 1: bending, 2: stretching, 3: both
// mesh properties
mjStringVec* nodebody; // node body names