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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_vis_visualize.c
+43 -19
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@@ -1496,6 +1496,8 @@ static void addFlexBvhGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
int NY = cy * order + 1;
int NZ = cz * order + 1;
int shell_mode = m->flex_interp[f] < 0;
for (int i=0; i < NX; i++) {
for (int j=0; j < NY; j++) {
for (int k=0; k < NZ; k++) {
@@ -1506,36 +1508,58 @@ static void addFlexBvhGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
continue;
}
// shell mode: skip interior nodes entirely
int is_boundary = (i == 0 || i == NX-1 ||
j == 0 || j == NY-1 ||
k == 0 || k == NZ-1);
if (shell_mode && !is_boundary) {
continue;
}
int offset = 3*n0;
int offset1 = 3*((i+1)*NY*NZ + j*NZ + k);
int offset2 = 3*(i*NY*NZ + (j+1)*NZ + k);
int offset3 = 3*(i*NY*NZ + j*NZ + (k+1));
if (i < NX-1 && m->body_jntnum[bodyid[(i+1)*NY*NZ + j*NZ + k]] > 0) {
mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
if (!thisgeom) {
return;
}
mjv_connector(thisgeom, mjGEOM_LINE, 3, xpos+offset, xpos+offset1);
releaseGeom(&thisgeom, scn);
// edge along i: draw if neighbor is also on boundary (shell) or has joints
if (i < NX-1 && m->body_jntnum[bodyid[(i+1)*NY*NZ + j*NZ + k]] > 0) {
int nb_boundary = ((i+1) == 0 || (i+1) == NX-1 ||
j == 0 || j == NY-1 ||
k == 0 || k == NZ-1);
if (!shell_mode || nb_boundary) {
mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
if (!thisgeom) {
return;
}
mjv_connector(thisgeom, mjGEOM_LINE, 3, xpos+offset, xpos+offset1);
releaseGeom(&thisgeom, scn);
}
}
if (j < NY-1 && m->body_jntnum[bodyid[i*NY*NZ + (j+1)*NZ + k]] > 0) {
mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
if (!thisgeom) {
return;
int nb_boundary = (i == 0 || i == NX-1 ||
(j+1) == 0 || (j+1) == NY-1 ||
k == 0 || k == NZ-1);
if (!shell_mode || nb_boundary) {
mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
if (!thisgeom) {
return;
}
mjv_connector(thisgeom, mjGEOM_LINE, 3, xpos+offset, xpos+offset2);
releaseGeom(&thisgeom, scn);
}
mjv_connector(thisgeom, mjGEOM_LINE, 3, xpos+offset, xpos+offset2);
releaseGeom(&thisgeom, scn);
}
if (k < NZ-1 && m->body_jntnum[bodyid[i*NY*NZ + j*NZ + (k+1)]] > 0) {
mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
if (!thisgeom) {
return;
int nb_boundary = (i == 0 || i == NX-1 ||
j == 0 || j == NY-1 ||
(k+1) == 0 || (k+1) == NZ-1);
if (!shell_mode || nb_boundary) {
mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
if (!thisgeom) {
return;
}
mjv_connector(thisgeom, mjGEOM_LINE, 3, xpos+offset, xpos+offset3);
releaseGeom(&thisgeom, scn);
}
mjv_connector(thisgeom, mjGEOM_LINE, 3, xpos+offset, xpos+offset3);
releaseGeom(&thisgeom, scn);
}
}
}