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

Clean-up flex assumptions.

Browse Source 
Do not allow a mix of `elastic2d != none` with `dof = trilinear` since the latter assumes 3d elasticity.

Also, do not assume that `flex_interp > 0` in the engine. This will enable to use, e.g., `flex_interp = -1` to mean a linear surface finite element instead of a 3d finite element which is currently identified with `flex_interp = 1`.

PiperOrigin-RevId: 903852035
Change-Id: Ia6290b4a05e9e510ffb7f36d141cd525b40d3110
This commit is contained in:
Alessio Quaglino
2026-04-22 08:00:42 -07:00
committed by Copybara-Service
parent 863a084d7f
commit a891782553
14 changed files with 84 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_core_constraint.c
+4
View File
@@ -275,6 +275,7 @@ static int mj_vertBodyWeight(const mjModel* m, const mjData* d, int f, int* v,
}
int order = m->flex_interp[f];
order = order < 0 ? -order : order;
int npc = (order+1)*(order+1)*(order+1); // number of nodes per cell
// cell lookup: get local coords and node indices
@@ -709,6 +710,7 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
int f = id[0];
int nodenum = m->flex_nodenum[f];
int order = m->flex_interp[f];
order = order < 0 ? -order : order;
// skip if not interpolated (order == 0 or no nodes)
if (!order || !nodenum) {
@@ -1676,6 +1678,7 @@ void mj_diagApprox(const mjModel* m, mjData* d) {
int flex_id = m->eq_obj1id[id];
int nstart = m->flex_nodeadr[flex_id];
int order = m->flex_interp[flex_id];
order = order < 0 ? -order : order;
int npc = (order+1)*(order+1)*(order+1);
// per-cell constraint count
@@ -2296,6 +2299,7 @@ static int mj_ne(const mjModel* m, mjData* d, int* nnz) {
// per-cell strain constraints: each equality is one cell
int f = id[0];
int order = m->flex_interp[f];
order = order < 0 ? -order : order;
if (!order || !m->flex_nodenum[f]) {
break;
}