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Introduce trilinear flex parametrization.

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These flexes use only 24 DOFs (3 per vertex of the bounding box), while colliding with the full high resolution mesh.

On an 8x8x8 cube, the performance using DOFs at all vertices is

```
 Simulation time      : 18.74 s
 Steps per second     : 533
 Realtime factor      : 0.53 x
 Time per step        : 1874.4 µs

 Contacts per step    : 114.88
 Constraints per step : 3322.51
 Degrees of freedom   : 1536
```

With the new implementation, it is the following:

```
 Simulation time      : 1.82 s
 Steps per second     : 5507
 Realtime factor      : 5.51 x
 Time per step        : 181.6 µs

 Contacts per step    : 38.84
 Constraints per step : 155.36
 Degrees of freedom   : 24
```

PiperOrigin-RevId: 721008829
Change-Id: I833df027527db578d86667cc4b24295bcf6f7d22
This commit is contained in:
Alessio Quaglino
2025-01-29 09:37:37 -08:00
committed by Copybara-Service
parent 1a4b821b6b
commit 7cdf180641
47 changed files with 8967 additions and 96 deletions
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doc/XMLschema.rst
+7 -7
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@@ -435,17 +435,17 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<body-flexcomp-name>` | :ref:`type<body-flexcomp-type>` | :ref:`group<body-flexcomp-group>` | :ref:`dim<body-flexcomp-dim>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`count<body-flexcomp-count>` | :ref:`spacing<body-flexcomp-spacing>` | :ref:`radius<body-flexcomp-radius>` | :ref:`rigid<body-flexcomp-rigid>` | |
| | | | :ref:`dof<body-flexcomp-dof>` | :ref:`count<body-flexcomp-count>` | :ref:`spacing<body-flexcomp-spacing>` | :ref:`radius<body-flexcomp-radius>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`mass<body-flexcomp-mass>` | :ref:`inertiabox<body-flexcomp-inertiabox>` | :ref:`scale<body-flexcomp-scale>` | :ref:`file<body-flexcomp-file>` | |
| | | | :ref:`rigid<body-flexcomp-rigid>` | :ref:`mass<body-flexcomp-mass>` | :ref:`inertiabox<body-flexcomp-inertiabox>` | :ref:`scale<body-flexcomp-scale>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`point<body-flexcomp-point>` | :ref:`element<body-flexcomp-element>` | :ref:`texcoord<body-flexcomp-texcoord>` | :ref:`material<body-flexcomp-material>` | |
| | | | :ref:`file<body-flexcomp-file>` | :ref:`point<body-flexcomp-point>` | :ref:`element<body-flexcomp-element>` | :ref:`texcoord<body-flexcomp-texcoord>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`rgba<body-flexcomp-rgba>` | :ref:`flatskin<body-flexcomp-flatskin>` | :ref:`pos<body-flexcomp-pos>` | :ref:`quat<body-flexcomp-quat>` | |
| | | | :ref:`material<body-flexcomp-material>` | :ref:`rgba<body-flexcomp-rgba>` | :ref:`flatskin<body-flexcomp-flatskin>` | :ref:`pos<body-flexcomp-pos>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`axisangle<body-flexcomp-axisangle>` | :ref:`xyaxes<body-flexcomp-xyaxes>` | :ref:`zaxis<body-flexcomp-zaxis>` | :ref:`euler<body-flexcomp-euler>` | |
| | | | :ref:`quat<body-flexcomp-quat>` | :ref:`axisangle<body-flexcomp-axisangle>` | :ref:`xyaxes<body-flexcomp-xyaxes>` | :ref:`zaxis<body-flexcomp-zaxis>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`origin<body-flexcomp-origin>` | | | | |
| | | | :ref:`euler<body-flexcomp-euler>` | :ref:`origin<body-flexcomp-origin>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| flexcomp |br| |_2| |L| | | .. table:: |
@@ -509,7 +509,7 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`material<deformable-flex-material>` | :ref:`rgba<deformable-flex-rgba>` | :ref:`flatskin<deformable-flex-flatskin>` | :ref:`body<deformable-flex-body>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`vertex<deformable-flex-vertex>` | :ref:`element<deformable-flex-element>` | :ref:`texcoord<deformable-flex-texcoord>` | | |
| | | | :ref:`vertex<deformable-flex-vertex>` | :ref:`element<deformable-flex-element>` | :ref:`texcoord<deformable-flex-texcoord>` | :ref:`node<deformable-flex-node>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| flex |br| |_2| |L| | | .. table:: |