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Default flex internal contacts to "false".

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This function is unusual in the context of soft body simulations and has been a common gotcha for users, see e.g. #2500, #2079, #1900, and #1433. It should be used only if element inversion cannot be prevented otherwise.

PiperOrigin-RevId: 736822983
Change-Id: I76b0965c91c94dd88123826d218d7544ec37a88c
This commit is contained in:
Alessio Quaglino
2025-03-14 04:54:12 -07:00
committed by Copybara-Service
parent 40891eeadc
commit f25fc63f0f
4 changed files with 15 additions and 4 deletions
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test/testdata/flex.xml
Vendored
+4 -1
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@@ -31,24 +31,27 @@
<flexcomp name="f1" type="ellipsoid" rgba=".8 .2 .2 1" radius="0.001" count="4 4 4"
spacing=".025 .025 .025" dim="3" mass="1" dof="radial">
<edge equality="true" solref="0.15 0.2" stiffness="0" damping="0"/>
<contact internal="true"/>
</flexcomp>
</body>
<flexcomp name="f2" type="grid" rgba="1 1 0 1" radius="0.003" dim="2" pos="0 0 .1"
zaxis="0 0 1" count="6 6 1" mass="1" spacing="0.02 0.03 0.04" material="grid">
<edge equality="true" solref="0.15 0.2" stiffness="0" damping="0"/>
<contact internal="true"/>
<pin id="0"/>
</flexcomp>
<flexcomp name="f3" type="grid" rgba=".6 .5 .1 1" radius="0.003" dim="3" pos="0 0 .3"
zaxis="1 1 1" count="3 3 3" mass="1" spacing="0.02 0.03 0.04">
<edge equality="true" solref="0.15 0.2" stiffness="0" damping="0"/>
<contact internal="true"/>
</flexcomp>
<flexcomp type="grid" count="8 8 8" spacing=".007 .007 .007" pos="0 0 1.5" dim="3"
radius=".0001" rgba="0 .7 .7 1" mass=".25" name="softbody" dof="trilinear">
<elasticity young="1e4" poisson="0.1" damping="0.01"/>
<contact selfcollide="none" internal="false"/>
<contact selfcollide="none"/>
</flexcomp>
</worldbody>