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Clean-up flex assumptions.

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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
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src/engine/engine_derivative.c
+2
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@@ -887,6 +887,7 @@ static void mjd_flexInterp_kernel(const mjModel* m, mjData* d, mjtFlexOp op,
if (!m->flex_interp[f]) continue;
if (m->flex_rigid[f]) continue;
int order = m->flex_interp[f];
order = order < 0 ? -order : order;
int npc = (order+1)*(order+1)*(order+1);
if (npc > max_npc) max_npc = npc;
if (m->flex_nodenum[f] > max_nodenum) max_nodenum = m->flex_nodenum[f];
@@ -966,6 +967,7 @@ static void mjd_flexInterp_kernel(const mjModel* m, mjData* d, mjtFlexOp op,
}
int order = m->flex_interp[f];
order = order < 0 ? -order : order;
int npc = (order+1)*(order+1)*(order+1);
int cx = m->flex_cellnum[3*f+0];
int cy = m->flex_cellnum[3*f+1];