The BVH is used also for computing normalized vertex coordinates in the trilinear interpolation, so we need to compute it also when the flex cannot collide.
PiperOrigin-RevId: 756349244
Change-Id: Ib397c472e31251df5a7ea85850d83a62f3b2c949
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
`flex_xvert0` stored the Cartesian position of the vertices in `qpos0`. This array was unused, so it is now replaced with `flex_vert0`, which still contains the positions of the vertices, but normalized on the bounding box of the flex so that the coordinates are in `[0,1]^m->flex_dim`. This will be useful in the future for using different interpolation methods for computing flex deformations.
PiperOrigin-RevId: 691779361
Change-Id: I5c4223103cd4558f4e268fe3e8d8177541e4754f
Replaced "shark" test models with lighter models to speed up tests.
END_PUBLIC.
- procedurally generated light cube
- replaced shark GMSH with cube for all tests with extension GMSH
- Reduced size of shark model used for tests with extension Ftetwild
PiperOrigin-RevId: 631776421
Change-Id: I66f6b4058b86338a10d06c39bc93bef1c6fbdab6
Now we can load flex with format 2.2 binary and ASCII.
There are two different parsing strategies. One for gmsh app and the other is for ftetwild.
Used the shark model from Scanned Objects by Google Research:
https://app.gazebosim.org/GoogleResearch/fuel/models/Weisshai_Great_White_Shark
PiperOrigin-RevId: 619229499
Change-Id: I6eb876afcbc8a00631914b093c45bde10c0caaf6
Alessio Quaglino