3 Commits

Author	SHA1	Message	Date
Alessio Quaglino	6c7ed66781	Implement multi-cell finite element method for interpolated flexes. ... This change introduces a `flex_cellcount` field to `mjModel` to specify the number of cells in each dimension for interpolated flexes. The stiffness computation, passive force calculation, and Jacobian derivatives are updated to operate on a per-cell basis, significantly improving performance by localizing computations to the nodes within each cell. PiperOrigin-RevId: 901216393 Change-Id: Ic23132e609de11e71bb7fef8d1f139daad2ec264	2026-04-17 04:13:19 -07:00
Alessio Quaglino	0041fdcbb0	Add implicit stiffness for flex_interp to mj_implicitSkip. ... PiperOrigin-RevId: 867706885 Change-Id: Ic94c65b618a415609bffe3d69a86f9034f2d2400	2026-02-09 11:54:27 -08:00
Yuval Tassa	222ee00a66	Break out passive force functions into a new file engine_passive.c ... PiperOrigin-RevId: 513834952 Change-Id: I5347440f24d767a7dc81a34e48e1e17d8c10173f	2023-03-03 08:32:16 -08:00