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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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include/mujoco/mujoco.h
+2 -2
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@@ -1125,8 +1125,8 @@ MJAPI void mju_quatIntegrate(mjtNum quat[4], const mjtNum vel[3], mjtNum scale);
// Construct quaternion performing rotation from z-axis to given vector.
MJAPI void mju_quatZ2Vec(mjtNum quat[4], const mjtNum vec[3]);
// extract 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion
// returns the number of iterations required to converge
// Extract 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion.
// Returns the number of iterations required to converge
MJAPI int mju_mat2Rot(mjtNum quat[4], const mjtNum mat[9]);
// Convert sequence of Euler angles (radians) to quaternion.