2 Commits

Author	SHA1	Message	Date
Yuval Tassa	5e666635f6	Remove mjtVisFlag.mjVIS_FLEXBVH and mjvOption.oct_depth ... PiperOrigin-RevId: 783355711 Change-Id: I1e11999d5c533925f1d07266aeca95598a5691ba	2025-07-15 09:08:22 -07:00
Alessio Quaglino	7cdf180641	Introduce trilinear flex parametrization. ... 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