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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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test/engine/engine_util_misc_test.cc
+89
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@@ -32,6 +32,7 @@ namespace {
using ::testing::DoubleNear;
using ::testing::HasSubstr;
using ::testing::Ne;
using ::testing::Pointwise;
using ::testing::StrEq;
using ::testing::ElementsAreArray;
@@ -210,6 +211,94 @@ TEST_F(UtilMiscTest, MuscleGainLength) {
EXPECT_EQ(mju_muscleGainLength(2.0, lmin, lmax), 0);
}
// --------------------------------- Interpolation -----------------------------
using InterpolationTest = MujocoTest;
TEST_F(InterpolationTest, mju_defGradient) {
int order = 1;
mjtNum mat[9];
mjtNum p1[3] = {.5, .5, .5};
mjtNum p2[3] = {.25, .25, .25};
mjtNum dof0[24] = {0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 1, 1,
1, 0, 0, 1, 0, 1, 1, 1, 0, 1, 1, 1};
// identity
mjtNum dof1[24];
for (int i = 0; i < 24; ++i) dof1[i] = dof0[i];
mju_defGradient(mat, p1, dof1, order);
EXPECT_THAT(mat, ElementsAreArray({1, 0, 0, 0, 1, 0, 0, 0, 1}));
// translation
mjtNum dof2[24];
for (int i = 0; i < 24; ++i) dof2[i] = 2 + dof0[i];
mju_defGradient(mat, p1, dof2, order);
EXPECT_THAT(mat, ElementsAreArray({1, 0, 0, 0, 1, 0, 0, 0, 1}));
mju_defGradient(mat, p2, dof2, order);
EXPECT_THAT(mat, ElementsAreArray({1, 0, 0, 0, 1, 0, 0, 0, 1}));
// constant stretch
mjtNum dof3[24];
for (int i = 0; i < 24; ++i) dof3[i] = 2*dof0[i];
mju_defGradient(mat, p1, dof3, order);
EXPECT_THAT(mat, ElementsAreArray({2, 0, 0, 0, 2, 0, 0, 0, 2}));
mju_defGradient(mat, p2, dof3, order);
EXPECT_THAT(mat, ElementsAreArray({2, 0, 0, 0, 2, 0, 0, 0, 2}));
// axial stretch
mjtNum dof4[24];
for (int i = 0; i < 24; ++i) dof4[i] = (i%3 == 1 ? 2 : 1)*dof0[i];
mju_defGradient(mat, p1, dof4, order);
EXPECT_THAT(mat, ElementsAreArray({1, 0, 0, 0, 2, 0, 0, 0, 1}));
mju_defGradient(mat, p2, dof4, order);
EXPECT_THAT(mat, ElementsAreArray({1, 0, 0, 0, 2, 0, 0, 0, 1}));
// z-axis 90 degree rotation
mjtNum dof5[24];
for (int i = 0; i < 8; ++i) {
mjtNum quat[4] = {0, 0, 0, 1};
mjtNum axis[3] = {0, 0, 1};
mju_axisAngle2Quat(quat, axis, mjPI/2);
mju_rotVecQuat(dof5 + 3*i, dof0 + 3*i, quat);
}
mju_defGradient(mat, p1, dof5, order);
EXPECT_THAT(mat, Pointwise(DoubleNear(1e-8), {0, -1, 0, 1, 0, 0, 0, 0, 1}));
mju_defGradient(mat, p2, dof5, order);
EXPECT_THAT(mat, Pointwise(DoubleNear(1e-8), {0, -1, 0, 1, 0, 0, 0, 0, 1}));
// z-axis 30 degree rotation
mjtNum dof6[24];
mjtNum rot6[9];
for (int i = 0; i < 8; ++i) {
mjtNum quat[4];
mjtNum axis[3] = {0, 0, 1};
mju_axisAngle2Quat(quat, axis, mjPI/6);
mju_rotVecQuat(dof6 + 3*i, dof0 + 3*i, quat);
mju_quat2Mat(rot6, quat);
}
mju_defGradient(mat, p1, dof6, order);
EXPECT_THAT(mat, Pointwise(DoubleNear(1e-8), rot6));
mju_defGradient(mat, p2, dof6, order);
EXPECT_THAT(mat, Pointwise(DoubleNear(1e-8), rot6));
// z-axis CoM rotation
mjtNum dof7[24];
mjtNum rot7[9];
for (int i = 0; i < 8; ++i) {
mjtNum quat[4];
mjtNum axis[3] = {0, 0, 1};
mjtNum offset[3] = {-.5, -.5, 0};
mju_axisAngle2Quat(quat, axis, mjPI/6);
mju_add3(dof7 + 3*i, dof0 + 3*i, offset);
mju_rotVecQuat(dof7 + 3*i, dof0 + 3*i, quat);
mju_quat2Mat(rot7, quat);
}
mju_defGradient(mat, p1, dof7, order);
EXPECT_THAT(mat, Pointwise(DoubleNear(1e-8), rot7));
mju_defGradient(mat, p2, dof7, order);
EXPECT_THAT(mat, Pointwise(DoubleNear(1e-8), rot7));
}
// --------------------------------- Base64 ------------------------------------
using Base64Test = MujocoTest;