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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_util.c
+17
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@@ -1020,6 +1020,23 @@ void mju_flexGatherState(const mjModel* m, const mjData* d, int f, mjtNum* xpos,
mju_addTo3(vel + 3*i, cross);
}
}
// shell mode: reconstruct interior node positions and velocities via TFI
int interp = m->flex_interp[f];
if (interp < 0) {
int order = -interp;
int cx = m->flex_cellnum[3*f+0];
int cy = m->flex_cellnum[3*f+1];
int cz = m->flex_cellnum[3*f+2];
int nx_g = cx * order + 1;
int ny_g = cy * order + 1;
int nz_g = cz * order + 1;
mju_shellTrackInterior(xpos, nx_g, ny_g, nz_g);
if (vel) {
mju_shellTrackInterior(vel, nx_g, ny_g, nz_g);
}
}
}