chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Introduce trilinear flex parametrization.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_setconst.c
+13
View File
@@ -213,6 +213,10 @@ static void set0(mjModel* m, mjData* d) {
if (nv) {
// compute flexedge_invweight0
for (int f=0; f < m->nflex; f++) {
if (m->flex_interp[f]) {
continue;
}
for (int i=m->flex_edgeadr[f]; i < m->flex_edgeadr[f]+m->flex_edgenum[f]; i++) {
// bodies connected by edge
int b1 = m->flex_vertbodyid[m->flex_vertadr[f] + m->flex_edge[2*i]];
@@ -498,13 +502,22 @@ static void setStat(mjModel* m, mjData* d) {
// adjust body size for flex edges involving body
for (int f=0; f < m->nflex; f++) {
mjtNum meanedge = 0;
for (int e=m->flex_edgeadr[f]; e < m->flex_edgeadr[f]+m->flex_edgenum[f]; e++) {
meanedge += m->flexedge_length0[e] / m->flex_edgenum[f];
if (m->flex_interp[f]) {
continue;
}
int b1 = m->flex_vertbodyid[m->flex_vertadr[f]+m->flex_edge[2*e]];
int b2 = m->flex_vertbodyid[m->flex_vertadr[f]+m->flex_edge[2*e+1]];
body[b1] = mju_max(body[b1], m->flexedge_length0[e]);
body[b2] = mju_max(body[b2], m->flexedge_length0[e]);
}
for (int v=m->flex_nodeadr[f]; v < m->flex_nodeadr[f]+m->flex_node[f]; v++) {
body[m->flex_nodebodyid[v]] = mju_max(body[m->flex_nodebodyid[v]], meanedge);
}
}
// compute meansize, make sure all sizes are above min