chenlin/Mujoco_WASM
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92c161a61ba1d0529eb7b2d38f61298b9ddbf92e
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3 Commits

Author SHA1 Message Date
Alessio Quaglino 40d927c9fa Move 2d and 3d plugin force computation to elasticity.h. 
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
Alessio Quaglino 643c1248b8 Skip flex edge Jacobian if not needed. 
When equality constraints and built-in passive forces are not present, edge Jacobians are unused. This gives a 3x speedup in `mj_kinematics` in `floppy_flex` (from 0.2ms/step to 0.06ms/step).

Changed the default options of `floppy_flex` to match those of `floppy` for a fair comparison.

PiperOrigin-RevId: 575850622
Change-Id: I4c618536fd17ef930153bbd1f1da7d9e0e44abbe
 2023-10-23 10:02:00 -07:00
Alessio Quaglino 110ade1435 Update Solid and Shell plugins to use FlexComp. 
PiperOrigin-RevId: 573755821
Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
 2023-10-16 03:03:06 -07:00