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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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test/user/user_mesh_test.cc
+52
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@@ -819,6 +819,58 @@ TEST_F(MjCMeshTest, VolumeSmallAllowedShell) {
mj_deleteModel(model);
}
TEST_F(MjCMeshTest, Flex2DElasticityRequiresPositiveThickness) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<flexcomp name="f" type="grid" count="3 3 1" spacing="1 1 1" dim="2" dof="2d">
<elasticity young="1" thickness="0" elastic2d="bend"/>
</flexcomp>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, testing::IsNull());
EXPECT_THAT(error.data(),
HasSubstr("2d elasticity requires positive thickness"));
}
TEST_F(MjCMeshTest, InterpolatedFlexDoesNotSupport2DElasticity) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<flexcomp name="f" type="grid" count="3 3 1" spacing="1 1 1" dim="2" dof="trilinear">
<contact selfcollide="none"/>
<elasticity young="1" thickness="1" elastic2d="bend"/>
</flexcomp>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, testing::IsNull());
EXPECT_THAT(
error.data(),
HasSubstr("interpolated flex does not yet support 2d elasticity"));
}
TEST_F(MjCMeshTest, Flex2DElasticityRequires2DFlex) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<flexcomp name="f" type="grid" count="3 3 3" spacing="1 1 1" dim="3" dof="2d">
<elasticity young="1" thickness="1" elastic2d="bend"/>
</flexcomp>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, testing::IsNull());
EXPECT_THAT(error.data(), HasSubstr("2d elasticity requires 2d flex"));
}
TEST_F(MjCMeshTest, VolumeNegativeThrowsError) {
static constexpr char xml[] = R"(
<mujoco>