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Implement bending forces for interpolated flex shells.

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This change adds a new passive force computation for flexes with elastic2d="bend" and dof="trilinear". The bending energy is based on the squared difference of normals between adjacent face elements at their shared edge midpoint. The edge data is precomputed during model compilation and stored in flex_bending.

PiperOrigin-RevId: 910772638
Change-Id: I3b12c7b7f1ba6ac1875df495d89e8cfec921ca80
This commit is contained in:
Alessio Quaglino
2026-05-05 10:32:28 -07:00
committed by Copybara-Service
parent a692283db3
commit d933b195ee
9 changed files with 622 additions and 51 deletions
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src/engine/engine_derivative.c
+5
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@@ -975,6 +975,11 @@ static void mjd_flexInterp_kernel(const mjModel* m, mjData* d, mjtFlexOp op,
int order = m->flex_interp[f];
int shell_mode = order < 0;
order = order < 0 ? -order : order;
// warn that bending derivatives are not yet implemented
if (shell_mode) {
mj_warning(d, mjWARN_INERTIA, f); // bending implicit derivatives missing
}
int cx = m->flex_cellnum[3*f+0];
int cy = m->flex_cellnum[3*f+1];
int cz = m->flex_cellnum[3*f+2];