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

Add 2D membrane elasticity for interpolated flex shell mode

Browse Source 
When elastic2d="stretch" is set on an interpolated flexcomp, treat the bounding box boundary as membrane elements rather than volumetric cells. This computes plane-stress stiffness over the boundary faces and updates the runtime force/derivative kernels accordingly.

Interior vertex tracking (moving vertices that follow the deforming shell) is not yet implemented so all mesh vertices need to be on the bounding box surface or the background grid should have no interior nodes (i.e. cellcount should be 1 on at least one axis).

PiperOrigin-RevId: 907654080
Change-Id: I51b90e2f6a1d1b036f9604e42de20e377dc5d3f9
This commit is contained in:
Alessio Quaglino
2026-04-29 10:16:38 -07:00
committed by Copybara-Service
parent 517c113656
commit 9c6a4f76eb
15 changed files with 1378 additions and 349 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/XMLreference.rst
+2 -1
View File
@@ -4328,7 +4328,8 @@ stress-strain relationship. See also :ref:`deformable <CDeformable>` objects and
:at:`elastic2d`: :at-val:`[none, bend, stretch, both], "none"`
Elastic contribution to passive forces of 2D flexes. "none": none, "bend": bending only, "stretch": stretching only,
"both": bending and stretching. Not yet supported by :ref:`dof<body-flexcomp-dof>` **trilinear** and **quadratic**.
"both": bending and stretching. Bending is not yet supported by :ref:`dof<body-flexcomp-dof>` **trilinear** and
**quadratic**.
.. _flex-contact: