4998e7b392
Move flex damping to the engine and remove membrane and solid plugins.
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PiperOrigin-RevId: 676434954
Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
2024-09-19 09:01:30 -07:00
ddbc083810
Move elasticity computation to mjCFlex.
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PiperOrigin-RevId: 675949380
Change-Id: Ia48f4fd6ae1ede206ccacd1205914e7e4b3c7aec
2024-09-18 05:23:10 -07:00
31abd7900a
Add edge ids to flex elements in mjModel.
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PiperOrigin-RevId: 675130981
Change-Id: If2ccfb268142d235273b7a50e15740f6399903b2
2024-09-16 06:58:10 -07:00
2da15cf137
Add flex elasticity stiffness matrix to mjModel.
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PiperOrigin-RevId: 675101645
Change-Id: Ic169c108b9eece3657ea4ec211df357abe615b7e
2024-09-16 05:00:54 -07:00
33e56ccb88
Remove edge length computations from elasticity plugins.
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Read the lengths from mjModel and mjData flex arrays.
PiperOrigin-RevId: 673116608
Change-Id: Iffa209abb7443707effaffb5bda99345399fac1c
2024-09-10 14:54:53 -07:00
80674149ce
Allow pinning flexes to non-simple bodies. Fixes #1270 .
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PiperOrigin-RevId: 598865882
Change-Id: I105ff1910a7d67f5b7bcb46bcef0e5e388ec08ea
2024-01-16 09:32:26 -08:00
63ec34f9f8
Add plugins to flex parent body if there are pinned vertices.
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Fixes #1270 .
PiperOrigin-RevId: 595429578
Change-Id: Ifc61d4bde4dd3c6b4d4a09106152de1d24e71ef0
2024-01-03 09:53:22 -08:00
7d8d4d398e
Make elasticity plugins compatible with flex pins. Fixes #1235 .
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Before change:
poncho 18.20s
poncho_flex 44.60s
floppy 4.70s
floppy_flex 6.43s
After change:
poncho 18.23s
poncho_flex 44.62s
floppy 4.67s
floppy_flex 6.57s
PiperOrigin-RevId: 585952587
Change-Id: I0e7c1513f64c7ab1e6ad71e2168b4467c042b46f
2023-11-28 06:13:43 -08:00
40d927c9fa
Move 2d and 3d plugin force computation to elasticity.h.
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Change physical properties of `floppy_flex.xml` to resemble `floppy.xml`.
Make `Membrane` backward compatible with `Composite`.
PiperOrigin-RevId: 577190384
Change-Id: I5bc56ec62faa134156e839bec45d685c22eba5c4
2023-10-27 07:18:08 -07:00
d67b8c6251
Add membrane plugin (2D Flex elastic stiffness).
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PiperOrigin-RevId: 574109411
Change-Id: I4a701d8189cecf540cd200bd30cb4582f3c7dd43
2023-10-17 04:55:33 -07:00
110ade1435
Update Solid and Shell plugins to use FlexComp.
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PiperOrigin-RevId: 573755821
Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
2023-10-16 03:03:06 -07:00
273c23038c
MakeParticle and elasticity plugin refactoring.
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- Removed the explicit dependency on a plugin name.
- Creation of particles from user-defined vertices (if a plugin is present).
- Add skin support for an irregular mesh
- Fixes #642 and #674 .
PiperOrigin-RevId: 561313771
Change-Id: I450f91f0d3b578cc18d97ed7180a0a8944b7dd41
2023-08-30 05:40:27 -07:00
Alessio Quaglino