a54c9f1d78
Specialized box and capsule collision primitives for stable 2D flex interactions.
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PiperOrigin-RevId: 864500749
Change-Id: I52aed6e29569477a8a0b6b5eb55ad483f1077c0e
2026-02-02 13:36:42 -08:00
7da271c687
Add vertex equality option.
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PiperOrigin-RevId: 860299454
Change-Id: I7befd8e5f4c8bac6d74684a96a9cc3cee9ae1e29
2026-01-23 16:30:05 -08:00
3a7aa84e53
Add quadratic stiffness to flex.
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PiperOrigin-RevId: 827409919
Change-Id: I3dff8ea49fb1726fec4acf5b91138d6d52c4bfba
2025-11-03 03:01:38 -08:00
01d1ac34e0
Add quadratic interpolation to flex.
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PiperOrigin-RevId: 822055781
Change-Id: Ibc252ac560de666b0b28f868e46b88d3ed92f67d
2025-10-21 04:36:36 -07:00
8acd83f317
Add passive collision mode for flexes.
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PiperOrigin-RevId: 801754907
Change-Id: I4147af2ee2596519d42cb9a03cf8d5488f0bc3e8
2025-09-01 04:13:58 -07:00
c2ff60e630
Decrease time step in shell examples.
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Also add bending damping.
PiperOrigin-RevId: 796446515
Change-Id: I4744003caf6146e5e00614a6016d1a6dfc42cca7
2025-08-18 09:00:10 -07:00
b66175eba6
Bending stiffness for curved shells in flex.
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PiperOrigin-RevId: 796361841
Change-Id: I105ea235fe2a8e1bcbde67276d77fa92eed214a1
2025-08-18 04:13:18 -07:00
5e666635f6
Remove mjtVisFlag.mjVIS_FLEXBVH and mjvOption.oct_depth
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PiperOrigin-RevId: 783355711
Change-Id: I1e11999d5c533925f1d07266aeca95598a5691ba
2025-07-15 09:08:22 -07:00
047df4e871
Add texture to rotating cylinders in pulley example.
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PiperOrigin-RevId: 767260834
Change-Id: I3030be314b5b197163d75ef88a5fd99a940d9c67
2025-06-04 13:16:04 -07:00
7edbdd0ad6
Remove the Shell plugin and integrate it into the engine.
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PiperOrigin-RevId: 760688502
Change-Id: Ia70988d42b7edf571d7cb4a4f48f8fc50b51667d
2025-05-19 10:51:25 -07:00
71bdd915f7
Move bending stiffness from plugin to the compiler.
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PiperOrigin-RevId: 758677644
Change-Id: I7d5c5140ba6948002bfa4ae9d6b4bf0f6de0e39b
2025-05-14 07:39:24 -07:00
b9a23e8d0c
Merge pull request #2475 from lyd405121:main
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PiperOrigin-RevId: 735789711
Change-Id: Iad5a52a0ba29baad31ba60f0243e3b88553e6e96
2025-03-11 09:48:23 -07:00
56dda2b4de
[Add Model] Make a flex with textured bunny
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- Make a flex with textured bunny from disscution(https://github.com/google-deepmind/mujoco/discussions/2442 )
2025-03-03 16:45:43 +08:00
e16354a527
[New Model] Add a bunny with uv coordinate
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- Using [UVAtlas](https://github.com/Microsoft/UVAtlas ) to unwrap and generate from the [origin bunny](https://github.com/google-deepmind/mujoco/blob/main/model/flex/asset/bunny.obj )
2025-03-03 16:44:03 +08:00
7cdf180641
Introduce trilinear flex parametrization.
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These flexes use only 24 DOFs (3 per vertex of the bounding box), while colliding with the full high resolution mesh.
On an 8x8x8 cube, the performance using DOFs at all vertices is
```
Simulation time : 18.74 s
Steps per second : 533
Realtime factor : 0.53 x
Time per step : 1874.4 µs
Contacts per step : 114.88
Constraints per step : 3322.51
Degrees of freedom : 1536
```
With the new implementation, it is the following:
```
Simulation time : 1.82 s
Steps per second : 5507
Realtime factor : 5.51 x
Time per step : 181.6 µs
Contacts per step : 38.84
Constraints per step : 155.36
Degrees of freedom : 24
```
PiperOrigin-RevId: 721008829
Change-Id: I833df027527db578d86667cc4b24295bcf6f7d22
2025-01-29 09:38:22 -08:00
ee6f4837f3
Auto-generate 3D mesh from convex OBJ if dim=3 in flex.
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This requires the user to explicitly specify an origin.
PiperOrigin-RevId: 712483526
Change-Id: Ie316a5eccb676bb918d4bb746795019145c10f5b
2025-01-06 04:35:59 -08:00
300450f8b8
Add circle to flexcomp and remove rope and loop from composite.
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Add pulley example to show a circle use case.
Switch on flex edge rendering by default (no effect when flex skin is rendered).
PiperOrigin-RevId: 700738379
Change-Id: I8469bbf194de01c8dab66c9a51c49879013df141
2024-11-27 10:14:25 -08:00
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
Alessio Quaglino