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Mujoco_WASM/model
Alessio Quaglino 9c6a4f76eb Add 2D membrane elasticity for interpolated flex shell mode
When elastic2d="stretch" is set on an interpolated flexcomp, treat the bounding box boundary as membrane elements rather than volumetric cells. This computes plane-stress stiffness over the boundary faces and updates the runtime force/derivative kernels accordingly.

Interior vertex tracking (moving vertices that follow the deforming shell) is not yet implemented so all mesh vertices need to be on the bounding box surface or the background grid should have no interior nodes (i.e. cellcount should be 1 on at least one axis).

PiperOrigin-RevId: 907654080
Change-Id: I51b90e2f6a1d1b036f9604e42de20e377dc5d3f9
2026-04-29 10:17:21 -07:00
..
2023-10-06 08:13:33 -07:00
2025-02-23 01:31:41 -08:00
2023-02-09 04:12:06 -08:00
2026-02-26 07:39:34 -08:00
2025-11-07 05:12:42 -08:00