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Restore flex island invariants in comments

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Signed-off-by: teerthsharma <teerths57@gmail.com>
This commit is contained in:
teerthsharma
2026-07-20 09:19:33 +05:30
committed by teerthsharma
parent cdda847191
commit 7ae4f22693
1 changed files with 8 additions and 2 deletions
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src/engine/engine_island.c
+8 -2
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@@ -410,9 +410,15 @@ static void unionConstraintTrees(const mjModel* m, const mjData* d, int* parent,
} }
} }
// Flex stiffness couples all vertices (nodes for interpolated flexes) without a constraint // flex stiffness couples all vertices (nodes for interpolated flexes) of a flex without any
// row representing the coupling. Union the awake dynamic trees of each stiffness-active flex. // constraint row representing the coupling: union the trees of every stiffness-active flex
// (star around the first dynamic tree). This keeps the partition valid when the implicit
// effective metric (mj_flexCG) carries the stiffness inside the constraint solve. Awake
// trees only: sleeping trees must stay out of islands (mj_sleep invariant, matching the
// constraint filter); waking a flex as a unit remains the wake machinery's job.
for (int f=0; f < m->nflex; f++) { for (int f=0; f < m->nflex; f++) {
// mirror the stiffness-activity conditions of engine_derivative's flexStiff_active /
// flexInterp_processed: deformable dim>=2 flex with bending or nonzero stiffness
if (m->flex_rigid[f] || m->flex_dim[f] < 2) { if (m->flex_rigid[f] || m->flex_dim[f] < 2) {
continue; continue;
} }