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Enable interior nodes for interpolated flex shell mode.

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Previously shell mode required cellcount=1 along at least one axis. This CL
adds support for cellcount > 1 in all three axes by pinning interior grid nodes
to the parent body and reconstructing their positions from boundary nodes via
Transfinite Interpolation (TFI).

PiperOrigin-RevId: 924314800
Change-Id: I8c2438f4866dd4133feed65f535a1ab69f0c9188
This commit is contained in:
Alessio Quaglino
2026-05-31 10:35:16 -07:00
committed by Copybara-Service
parent 4548e81e4d
commit 91c92279d2
14 changed files with 681 additions and 39 deletions
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src/engine/engine_core_constraint.h
+4 -4
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@@ -66,10 +66,10 @@ void mj_instantiateEquality(const mjModel* m, mjData* d);
void mj_instantiateContact(const mjModel* m, mjData* d);
// compute Jacobian for contact, return number of DOFs affected
int mj_contactJacobian(const mjModel* m, mjData* d, const mjContact* con, int dim,
mjtNum* jac, mjtNum* jacdif, mjtNum* jacdifp,
mjtNum* jacdifr, mjtNum* jac1p, mjtNum* jac2p,
mjtNum* jac1r, mjtNum* jac2r, int* chain);
MJAPI int mj_contactJacobian(const mjModel* m, mjData* d, const mjContact* con, int dim,
mjtNum* jac, mjtNum* jacdif, mjtNum* jacdifp,
mjtNum* jacdifr, mjtNum* jac1p, mjtNum* jac2p,
mjtNum* jac1r, mjtNum* jac2r, int* chain);
//------------------------ parameter computation/extraction ----------------------------------------