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Make elasticity plugins compatible with flex pins. Fixes #1235.

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Before change:
poncho       18.20s
poncho_flex  44.60s
floppy       4.70s
floppy_flex  6.43s

After change:
poncho       18.23s
poncho_flex  44.62s
floppy       4.67s
floppy_flex  6.57s

PiperOrigin-RevId: 585952587
Change-Id: I0e7c1513f64c7ab1e6ad71e2168b4467c042b46f
This commit is contained in:
Alessio Quaglino
2023-11-28 06:12:35 -08:00
committed by Copybara-Service
parent 7cb84d45c1
commit 7d8d4d398e
5 changed files with 52 additions and 29 deletions
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plugin/elasticity/elasticity.h
+10 -2
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@@ -90,6 +90,8 @@ inline void ComputeForce(mjtNum* qfrc_passive,
const std::vector<T>& elements,
const std::vector<mjtNum>& metric,
const std::vector<mjtNum>& elongationglob,
const mjModel* m,
const int* vertbodyid,
const mjtNum* xpos) {
for (int t = 0; t < elements.size(); t++) {
const int* v = elements[t].vertices;
@@ -126,8 +128,14 @@ inline void ComputeForce(mjtNum* qfrc_passive,
// insert into global force
for (int i = 0; i < T::kNumVerts; i++) {
for (int x = 0; x < 3; x++) {
qfrc_passive[3*v[i]+x] -= force[3*i+x];
int body_dofnum = 3;
int body_dofadr = 3*v[i];
if (vertbodyid) {
body_dofnum = m->body_dofnum[vertbodyid[v[i]]];
body_dofadr = m->body_dofadr[vertbodyid[v[i]]];
}
for (int x = 0; x < body_dofnum; x++) {
qfrc_passive[body_dofadr+x] -= force[3*i+x];
}
}
}