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Skip implicit solver if there are strain constraints.

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PiperOrigin-RevId: 908890994
Change-Id: Ieb05a162142edac14269ec6a509fc507c9146ac5
This commit is contained in:
Alessio Quaglino
2026-05-01 14:08:33 -07:00
committed by Copybara-Service
parent 723b8b1ea6
commit b2feed63e4
1 changed files with 13 additions and 5 deletions
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src/engine/engine_forward.c
+13 -5
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@@ -1371,6 +1371,14 @@ void mj_RungeKutta(const mjModel* m, mjData* d, int N) {
} }
// return 1 if flex f needs implicit interp treatment
static int flexInterp_active(const mjModel* m, int f) {
return m->flex_interp[f] && !m->flex_rigid[f] &&
m->flex_edgeequality[f] != 3 &&
m->flex_stiffness[m->flex_stiffnessadr[f]] != 0;
}
// context for flex interp reduced banded factorization/solve // context for flex interp reduced banded factorization/solve
typedef struct { typedef struct {
mjtNum* H; // banded Cholesky-factored matrix (ndof x nband) mjtNum* H; // banded Cholesky-factored matrix (ndof x nband)
@@ -1425,7 +1433,7 @@ static FlexInterpContext flexInterp_factor(const mjModel* m, mjData* d, int nv)
// count flex DOFs // count flex DOFs
int ndof = 0; int ndof = 0;
for (int f=0; f < m->nflex; f++) { for (int f=0; f < m->nflex; f++) {
if (m->flex_interp[f]) { if (flexInterp_active(m, f)) {
flexInterp_collect(m, f, chain_dofs, seen_dof, &ndof); flexInterp_collect(m, f, chain_dofs, seen_dof, &ndof);
} }
} }
@@ -1442,7 +1450,7 @@ static FlexInterpContext flexInterp_factor(const mjModel* m, mjData* d, int nv)
int cnt = 0; int cnt = 0;
mju_fillInt(seen_dof, 0, nv); mju_fillInt(seen_dof, 0, nv);
for (int f=0; f < m->nflex; f++) { for (int f=0; f < m->nflex; f++) {
if (m->flex_interp[f]) { if (flexInterp_active(m, f)) {
int nodenum = m->flex_nodenum[f]; int nodenum = m->flex_nodenum[f];
int nodeadr = m->flex_nodeadr[f]; int nodeadr = m->flex_nodeadr[f];
for (int n=0; n < nodenum; n++) { for (int n=0; n < nodenum; n++) {
@@ -1481,7 +1489,7 @@ static FlexInterpContext flexInterp_factor(const mjModel* m, mjData* d, int nv)
// get precomputed bandwidth // get precomputed bandwidth
int bandwidth = 0; int bandwidth = 0;
for (int f=0; f < m->nflex; f++) { for (int f=0; f < m->nflex; f++) {
if (m->flex_interp[f]) { if (flexInterp_active(m, f)) {
if (m->flex_bandwidth[f] > bandwidth) { if (m->flex_bandwidth[f] > bandwidth) {
bandwidth = m->flex_bandwidth[f]; bandwidth = m->flex_bandwidth[f];
} }
@@ -1963,10 +1971,10 @@ void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
mju_add(qfrc, d->qfrc_smooth, d->qfrc_constraint, nv); mju_add(qfrc, d->qfrc_smooth, d->qfrc_constraint, nv);
} }
// check for flex_interp // check for flex_interp that needs implicit treatment
int has_flex_interp = 0; int has_flex_interp = 0;
for (int f=0; f < m->nflex; f++) { for (int f=0; f < m->nflex; f++) {
if (m->flex_interp[f]) { if (flexInterp_active(m, f)) {
has_flex_interp = 1; has_flex_interp = 1;
break; break;
} }