Alessio Quaglino 508e581ba9 Optimize flex by pinning nodes in empty cells. ...

This change introduces an optimization for flexcomp objects defined by a mesh. It identifies grid cells that do not contain any mesh vertices and marks them as empty. Nodes that are exclusively part of empty cells are pinned, preventing them from moving. Stiffness computations are skipped for empty cells, reducing computational cost. The total mass is now distributed only among the non-pinned nodes.

PiperOrigin-RevId: 902565735
Change-Id: Id0a9a685536d5e18a3e42124a25ab08ff3a918f2

2026-04-20 04:41:17 -07:00

..

testdata

Add PBR test model.

2026-03-27 07:05:08 -07:00

CMakeLists.txt

Change flex constraints to eigenmodes of the stiffness matrix.

2026-04-20 02:02:44 -07:00

user_api_test.cc

Prevent deletion from an attached mjSpec.

2026-04-09 13:14:00 -07:00

user_cache_test.cc

Provide explicit argument for asset cache ID.

2025-09-25 07:24:12 -07:00

user_composite_test.cc

Remove the particle composite (replaced by replicate).

2025-02-23 03:14:11 -08:00

user_flex_test.cc

Optimize flex by pinning nodes in empty cells.

2026-04-20 04:41:17 -07:00

user_mesh_test.cc

Enable float32 testing for most MuJoCo engine and user tests.

2026-03-20 04:05:06 -07:00

user_model_test.cc

Enable float32 testing for most MuJoCo engine and user tests.

2026-03-20 04:05:06 -07:00

user_objects_test.cc

Allow actuators to add damping and armature to joint and tendon transmissions.

2026-03-20 11:41:15 -07:00

user_resource_test.cc

Refactor mjVFS and resource management.

2026-01-30 08:20:53 -08:00

user_threadpool_test.cc

Create threadpool for src/user and primarily compiler usage.

2026-02-02 06:31:00 -08:00

user_util_test.cc

Change flex constraints to eigenmodes of the stiffness matrix.

2026-04-20 02:02:44 -07:00

user_vfs_test.cc

Merge pull request #3105 from NandiniDhanrale:fix/vfs-move-3098

2026-03-11 04:53:57 -07:00