Alessio Quaglino 66d764a116 Scale flex warp constraint by thickness^3. ...

Warp is not a true stretch mode but a parasitic shear mode so it should be scaled like bending (~thickness^3) rather than stretching (~thickness). The thickness parameter can therefore be used to set the stretch to warp stiffness ratio of the strain constraints.

PiperOrigin-RevId: 916900311
Change-Id: I52e54210fbb2a6d309abc1f084934830adce3423

2026-05-17 14:33:12 -07:00

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asset

Merge pull request #2475 from lyd405121:main

2025-03-11 09:48:23 -07:00

basket.xml

Decrease time step in shell examples.

2025-08-18 09:00:10 -07:00

bunny_multicell.xml

Replace the banded Cholesky solver for implicit flex interpolation

2026-05-11 10:11:51 -07:00

bunny_quadratic.xml

Clean-up flex assumptions.

2026-04-22 08:01:34 -07:00

bunny_with_uv.xml

Clean-up flex assumptions.

2026-04-22 08:01:34 -07:00

bunny.xml

Clean-up flex assumptions.

2026-04-22 08:01:34 -07:00

cloth_sdf.xml

Add collisions between flexes and SDF geoms.

2026-02-27 14:35:27 -08:00

flag.xml

Implement bending forces for interpolated flex shells.

2026-05-05 10:33:18 -07:00

floppy.xml

Move flex damping to the engine and remove membrane and solid plugins.

2024-09-19 09:01:30 -07:00

gripper_2d.xml

Add dof="2d" option to flexcomp for in-plane deformations.

2026-04-20 07:14:40 -07:00

gripper_trilinear.xml

Introduce trilinear flex parametrization.

2025-01-29 09:38:22 -08:00

gripper.xml

Introduce trilinear flex parametrization.

2025-01-29 09:38:22 -08:00

hollow_vs_solid.xml

Scale flex warp constraint by thickness^3.

2026-05-17 14:33:12 -07:00

jelly.xml

Move flex damping to the engine and remove membrane and solid plugins.

2024-09-19 09:01:30 -07:00

mannequin.xml

Remove the Shell plugin and integrate it into the engine.

2025-05-19 10:51:25 -07:00

pancake.xml

Remove the Shell plugin and integrate it into the engine.

2025-05-19 10:51:25 -07:00

pinch.xml

Specialized box and capsule collision primitives for stable 2D flex interactions.

2026-02-02 13:36:42 -08:00

plate.xml

Remove the Shell plugin and integrate it into the engine.

2025-05-19 10:51:25 -07:00

poncho_edgeequality.xml

Add implicit bending stiffness for standard flex.

2026-05-13 03:58:16 -07:00

poncho.xml

Add implicit bending stiffness for standard flex.

2026-05-13 03:58:16 -07:00

press.xml

Move flex damping to the engine and remove membrane and solid plugins.

2024-09-19 09:01:30 -07:00

pulley.xml

Add texture to rotating cylinders in pulley example.

2025-06-04 13:16:04 -07:00

quadratic.xml

Add quadratic stiffness to flex.

2025-11-03 03:01:38 -08:00

scene.xml

Move flex damping to the engine and remove membrane and solid plugins.

2024-09-19 09:01:30 -07:00

softbox.xml

Introduce trilinear flex parametrization.

2025-01-29 09:38:22 -08:00

sphere_full.xml

Introduce trilinear flex parametrization.

2025-01-29 09:38:22 -08:00

sphere_passive.xml

Add passive collision mode for flexes.

2025-09-01 04:13:58 -07:00

sphere_radial.xml

Introduce trilinear flex parametrization.

2025-01-29 09:38:22 -08:00

sphere_trilinear.xml

Remove mjtVisFlag.mjVIS_FLEXBVH and mjvOption.oct_depth

2025-07-15 09:08:22 -07:00

strain.xml

Introduces a new "strain" equality mode (flex_edgeequality = 3) for flexcomps with trilinear interpolation. This mode enforces constraints on the three invariants of the Green-Lagrange strain tensor at 8 Gauss quadrature points within each flex element, resulting in 24 equality constraints per flexcomp.

2026-03-10 04:26:07 -07:00

trampoline.xml

Remove the Shell plugin and integrate it into the engine.

2025-05-19 10:51:25 -07:00

trilinear.xml

Introduce trilinear flex parametrization.

2025-01-29 09:38:22 -08:00