chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Enable interior nodes for interpolated flex shell mode.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_util_misc.h
+8
View File
@@ -147,6 +147,14 @@ static inline mjtNum mju_flexDphi(mjtNum s, int i, int order) {
default: return 0;
}
}
// reconstruct interior node positions from boundary nodes via Transfinite Interpolation
MJAPI void mju_shellTrackInterior(mjtNum* nodexpos, int nx, int ny, int nz);
// compute TFI weights for an interior node (i,j,k) and distribute to boundary nodes
MJAPI void mju_shellTFIWeights(int nx, int ny, int nz, int i, int j, int k,
mjtNum w, int* nb, int* body, mjtNum* bweight,
const int* nodebodyid, int nstart);
// ----------------------------- Base64 ------------------------------------------------------------