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Fix mj_makeConstraint error for flex trilinear vs trilinear contacts.

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The coordinates for flex interpolation are now computed using the absolute values of the vertex weights. The sign of the first vertex weight is then applied to the resulting barycentric weights. This correctly handles cases where the flex is both the first and the second entity in the contact pair.

PiperOrigin-RevId: 913590928
Change-Id: I970b35fba3d209e13b5b33bb5f945e3c6a43d487
This commit is contained in:
Alessio Quaglino
2026-05-11 02:44:50 -07:00
committed by Copybara-Service
parent 688209574d
commit df59e7d0f1
1 changed files with 6 additions and 3 deletions
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src/engine/engine_core_constraint.c
+6 -3
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@@ -268,10 +268,13 @@ static int mj_vertBodyWeight(const mjModel* m, const mjData* d, int f, int* v,
return 0;
}
// compute parametric coordinates of the vertex in [0, 1]^3
// determine sign: vweight may be negative for side-0 of a contact pair
mjtNum sign = vweight[0] < 0 ? -1 : 1;
// compute parametric coordinates using absolute weights
mjtNum coord[3] = {0, 0, 0};
for (int i = 0; i < nw; i++) {
mju_addToScl3(coord, m->flex_vert0 + 3*v[i], vweight[i]);
mju_addToScl3(coord, m->flex_vert0 + 3*v[i], mju_abs(vweight[i]));
}
int order = m->flex_interp[f];
@@ -292,7 +295,7 @@ static int mj_vertBodyWeight(const mjModel* m, const mjData* d, int f, int* v,
if (w < 1e-5) {
continue;
}
if (bweight) bweight[nb] = w;
if (bweight) bweight[nb] = sign * w;
body[nb++] = m->flex_nodebodyid[nstart + nodeindices[j]];
}