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Add passive collision mode for flexes.

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PiperOrigin-RevId: 801754907
Change-Id: I4147af2ee2596519d42cb9a03cf8d5488f0bc3e8
This commit is contained in:
Alessio Quaglino
2025-09-01 04:13:07 -07:00
committed by Copybara-Service
parent b9900db00e
commit 8acd83f317
17 changed files with 320 additions and 134 deletions
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doc/XMLreference.rst
+8
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@@ -3735,6 +3735,7 @@ saving the XML:
.. _flexcomp-contact-solimp:
.. _flexcomp-contact-margin:
.. _flexcomp-contact-gap:
.. _flexcomp-contact-passive:
.. |body/flexcomp/contact attrib list| replace::
:at:`internal`, :at:`selfcollide`, :at:`vertcollide`, :at:`activelayers`, :at:`contype`, :at:`conaffinity`,
@@ -4298,6 +4299,13 @@ extensions specific to flexes.
|deformable/flex/contact attrib list|
Same meaning as regular :ref:`geom <body-geom>` attributes.
.. _flex-contact-passive:
:at:`passive`: :at-val:`[true, false], "false"`
When enabled, the contact is not added to the contact solver but it is instead used to compute passive
(spring-damper) contact forces. All contacts, regardless of the specified condim, are frictionless (condim 1). This
is an experimental feature and might change in future releases.
.. _deformable-skin:
doc/XMLschema.rst
+2 -2
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@@ -458,7 +458,7 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`margin<flexcomp-contact-margin>` | :ref:`gap<flexcomp-contact-gap>` | :ref:`internal<flexcomp-contact-internal>` | :ref:`selfcollide<flexcomp-contact-selfcollide>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`activelayers<flexcomp-contact-activelayers>` | :ref:`vertcollide<flexcomp-contact-vertcollide>` | | | |
| | | | :ref:`activelayers<flexcomp-contact-activelayers>` | :ref:`vertcollide<flexcomp-contact-vertcollide>` | :ref:`passive<flexcomp-contact-passive>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| flexcomp |br| |_2| |L| | | .. table:: |
@@ -508,7 +508,7 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`margin<flex-contact-margin>` | :ref:`gap<flex-contact-gap>` | :ref:`internal<flex-contact-internal>` | :ref:`selfcollide<flex-contact-selfcollide>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`activelayers<flex-contact-activelayers>` | :ref:`vertcollide<flex-contact-vertcollide>` | | | |
| | | | :ref:`activelayers<flex-contact-activelayers>` | :ref:`vertcollide<flex-contact-vertcollide>` | :ref:`passive<flex-contact-passive>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| flex |br| |_2| |L| | | .. table:: |
doc/changelog.rst
+1
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@@ -54,6 +54,7 @@ General
- Added support for shells with a curved reference configuration. See this `example
<https://github.com/google-deepmind/mujoco/blob/main/model/flex/basket.xml>`__.
- Added experimental option for :ref:`passive<flex-contact-passive>` contacts involving flexes.
- Added support for assigning a default material to a mesh asset using the :ref:`mesh/material <asset-mesh-material>`
attribute.
doc/includes/references.h
+3 -1
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@@ -123,7 +123,7 @@ struct mjContact_ { // result of collision detection functions
int vert[2]; // vertex ids; -1 for geom or flex element
// flag set by mj_setContact or mj_instantiateContact
int exclude; // 0: include, 1: in gap, 2: fused, 3: no dofs
int exclude; // 0: include, 1: in gap, 2: fused, 3: no dofs, 4: passive
// address computed by mj_instantiateContact
int efc_address; // address in efc; -1: not included
@@ -1220,6 +1220,7 @@ struct mjModel_ {
mjtByte* flex_internal; // internal flex collision enabled (nflex x 1)
int* flex_selfcollide; // self collision mode (mjtFlexSelf) (nflex x 1)
int* flex_activelayers; // number of active element layers, 3D only (nflex x 1)
int* flex_passive; // passive collisions enabled (nflex x 1)
// flexes: other properties
int* flex_dim; // 1: lines, 2: triangles, 3: tetrahedra (nflex x 1)
@@ -2104,6 +2105,7 @@ typedef struct mjsFlex_ { // flex specification
mjtByte flatskin; // render flex skin with flat shading
int selfcollide; // mode for flex self collision
int vertcollide; // mode for vertex collision
int passive; // mode for passive collisions
int activelayers; // number of active element layers in 3D
int group; // group for visualizatioh
double edgestiffness; // edge stiffness