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Bending stiffness for curved shells in flex.

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PiperOrigin-RevId: 796361841
Change-Id: I105ea235fe2a8e1bcbde67276d77fa92eed214a1
This commit is contained in:
Alessio Quaglino
2025-08-18 04:12:34 -07:00
committed by Copybara-Service
parent 972ffd7b90
commit b66175eba6
18 changed files with 488 additions and 250 deletions
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src/user/user_flexcomp.cc
+124 -44
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@@ -161,7 +161,7 @@ bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz) {
case mjFCOMPTYPE_BOX:
case mjFCOMPTYPE_CYLINDER:
case mjFCOMPTYPE_ELLIPSOID:
res = MakeBox(error, error_sz);
res = MakeBox(error, error_sz, dflex->dim);
break;
case mjFCOMPTYPE_SQUARE:
@@ -853,18 +853,26 @@ bool mjCFlexcomp::MakeSquare(char* error, int error_sz) {
static int mat2lin(int ix, int iy, int iz, const int count[3]) {
return ix*count[1]*count[2] + iy*count[2] + iz;
}
// make 3d box, ellipsoid or cylinder
bool mjCFlexcomp::MakeBox(char* error, int error_sz) {
bool mjCFlexcomp::MakeBox(char* error, int error_sz, int dim, bool open) {
double pos[3];
bool needtex = texcoord.empty() && mjs_getString(def.spec.flex->material)[0];
// set 3D
def.spec.flex->dim = 3;
// set dimension
def.spec.flex->dim = dim;
// add center point
point.push_back(0);
point.push_back(0);
point.push_back(0);
if (dim == 3) {
point.push_back(0);
point.push_back(0);
point.push_back(0);
}
// add texture coordinates, if not specified explicitly
if (needtex) {
@@ -872,34 +880,30 @@ bool mjCFlexcomp::MakeBox(char* error, int error_sz) {
texcoord.push_back(0);
}
// add points
int n = 0;
std::vector<int> idx(count[0]*count[1]*count[2]);
// iz=0/max
for (int iz=0; iz < count[2]; iz+=count[2]-1) {
for (int ix=0; ix < count[0]; ix++) {
for (int iy=0; iy < count[1]; iy++) {
if (open && dim == 2 && iz != 0) {
continue;
}
// add point
BoxProject(pos, ix, iy, iz);
point.push_back(pos[0]);
point.push_back(pos[1]);
point.push_back(pos[2]);
idx[mat2lin(ix, iy, iz, count)] = n++;
// add texture coordinates, if not specified explicitly
if (needtex) {
texcoord.push_back(ix/(float)std::max(count[0]-1, 1));
texcoord.push_back(iy/(float)std::max(count[1]-1, 1));
}
// add elements
if (ix < count[0]-1 && iy < count[1]-1) {
element.push_back(0);
element.push_back(BoxID(ix, iy, iz));
element.push_back(BoxID(ix+1, iy, iz));
element.push_back(BoxID(ix+1, iy+1, iz));
element.push_back(0);
element.push_back(BoxID(ix, iy, iz));
element.push_back(BoxID(ix, iy+1, iz));
element.push_back(BoxID(ix+1, iy+1, iz));
}
}
}
}
@@ -909,11 +913,12 @@ bool mjCFlexcomp::MakeBox(char* error, int error_sz) {
for (int ix=0; ix < count[0]; ix++) {
for (int iz=0; iz < count[2]; iz++) {
// add point
if (iz > 0 && iz < count[2]-1) {
if (iz > 0 && ((open && dim == 2) || (iz < count[2]-1))) {
BoxProject(pos, ix, iy, iz);
point.push_back(pos[0]);
point.push_back(pos[1]);
point.push_back(pos[2]);
idx[mat2lin(ix, iy, iz, count)] = n++;
// add texture coordinates
if (needtex) {
@@ -921,19 +926,6 @@ bool mjCFlexcomp::MakeBox(char* error, int error_sz) {
texcoord.push_back(iz/(float)std::max(count[2]-1, 1));
}
}
// add elements
if (ix < count[0]-1 && iz < count[2]-1) {
element.push_back(0);
element.push_back(BoxID(ix, iy, iz));
element.push_back(BoxID(ix+1, iy, iz));
element.push_back(BoxID(ix+1, iy, iz+1));
element.push_back(0);
element.push_back(BoxID(ix, iy, iz));
element.push_back(BoxID(ix, iy, iz+1));
element.push_back(BoxID(ix+1, iy, iz+1));
}
}
}
}
@@ -943,11 +935,12 @@ bool mjCFlexcomp::MakeBox(char* error, int error_sz) {
for (int iy=0; iy < count[1]; iy++) {
for (int iz=0; iz < count[2]; iz++) {
// add point
if (iz > 0 && iz < count[2]-1 && iy > 0 && iy < count[1]-1) {
if (iz > 0 && ((open && dim == 2) || (iz < count[2]-1)) && iy > 0 && iy < count[1]-1) {
BoxProject(pos, ix, iy, iz);
point.push_back(pos[0]);
point.push_back(pos[1]);
point.push_back(pos[2]);
idx[mat2lin(ix, iy, iz, count)] = n++;
// add texture coordinates
if (needtex) {
@@ -955,18 +948,105 @@ bool mjCFlexcomp::MakeBox(char* error, int error_sz) {
texcoord.push_back(iz/(float)std::max(count[2]-1, 1));
}
}
}
}
}
// add elements
// add elements
// iz=0/max
for (int iz=0; iz < count[2]; iz+=count[2]-1) {
for (int ix=0; ix < count[0]; ix++) {
for (int iy=0; iy < count[1]; iy++) {
if (open && dim == 2 && iz != 0) {
continue;
}
if (ix < count[0]-1 && iy < count[1]-1) {
if (dim==3) {
element.push_back(0);
element.push_back(BoxID(ix, iy, iz));
element.push_back(BoxID(ix+1, iy, iz));
element.push_back(BoxID(ix+1, iy+1, iz));
element.push_back(0);
element.push_back(BoxID(ix, iy, iz));
element.push_back(BoxID(ix, iy+1, iz));
element.push_back(BoxID(ix+1, iy+1, iz));
} else {
int step1 = iz == 0 ? 1 : 0;
int step2 = iz == 0 ? 0 : 1;
element.push_back(idx[mat2lin(ix, iy, iz, count)]);
element.push_back(idx[mat2lin(ix+1, iy+step1, iz, count)]);
element.push_back(idx[mat2lin(ix+1, iy+step2, iz, count)]);
element.push_back(idx[mat2lin(ix, iy, iz, count)]);
element.push_back(idx[mat2lin(ix+step2, iy+1, iz, count)]);
element.push_back(idx[mat2lin(ix+step1, iy+1, iz, count)]);
}
}
}
}
}
// iy=0/max
for (int iy=0; iy < count[1]; iy+=count[1]-1) {
for (int ix=0; ix < count[0]; ix++) {
for (int iz=0; iz < count[2]; iz++) {
if (ix < count[0]-1 && iz < count[2]-1) {
if (dim==3) {
element.push_back(0);
element.push_back(BoxID(ix, iy, iz));
element.push_back(BoxID(ix+1, iy, iz));
element.push_back(BoxID(ix+1, iy, iz+1));
element.push_back(0);
element.push_back(BoxID(ix, iy, iz));
element.push_back(BoxID(ix, iy, iz+1));
element.push_back(BoxID(ix+1, iy, iz+1));
} else {
int ix0 = iy == 0 ? ix : ix+1;
int dx = iy == 0 ? 1 : -1;
element.push_back(idx[mat2lin(ix0, iy, iz, count)]);
element.push_back(idx[mat2lin(ix0+dx, iy, iz, count)]);
element.push_back(idx[mat2lin(ix0+dx, iy, iz+1, count)]);
element.push_back(idx[mat2lin(ix0, iy, iz, count)]);
element.push_back(idx[mat2lin(ix0+dx, iy, iz+1, count)]);
element.push_back(idx[mat2lin(ix0, iy, iz+1, count)]);
}
}
}
}
}
// ix=0/max
for (int ix=0; ix < count[0]; ix+=count[0]-1) {
for (int iy=0; iy < count[1]; iy++) {
for (int iz=0; iz < count[2]; iz++) {
if (iy < count[1]-1 && iz < count[2]-1) {
element.push_back(0);
element.push_back(BoxID(ix, iy, iz));
element.push_back(BoxID(ix, iy+1, iz));
element.push_back(BoxID(ix, iy+1, iz+1));
if (dim==3) {
element.push_back(0);
element.push_back(BoxID(ix, iy, iz));
element.push_back(BoxID(ix, iy+1, iz));
element.push_back(BoxID(ix, iy+1, iz+1));
element.push_back(0);
element.push_back(BoxID(ix, iy, iz));
element.push_back(BoxID(ix, iy, iz+1));
element.push_back(BoxID(ix, iy+1, iz+1));
element.push_back(0);
element.push_back(BoxID(ix, iy, iz));
element.push_back(BoxID(ix, iy, iz+1));
element.push_back(BoxID(ix, iy+1, iz+1));
} else {
int iy0 = ix != 0 ? iy : iy+1;
int dy = ix != 0 ? 1 : -1;
element.push_back(idx[mat2lin(ix, iy0, iz, count)]);
element.push_back(idx[mat2lin(ix, iy0+dy, iz, count)]);
element.push_back(idx[mat2lin(ix, iy0+dy, iz+1, count)]);
element.push_back(idx[mat2lin(ix, iy0, iz, count)]);
element.push_back(idx[mat2lin(ix, iy0+dy, iz+1, count)]);
element.push_back(idx[mat2lin(ix, iy0, iz+1, count)]);
}
}
}
}