Alessio Quaglino d933b195ee Implement bending forces for interpolated flex shells. ...

This change adds a new passive force computation for flexes with elastic2d="bend" and dof="trilinear". The bending energy is based on the squared difference of normals between adjacent face elements at their shared edge midpoint. The edge data is precomputed during model compilation and stored in flex_bending.

PiperOrigin-RevId: 910772638
Change-Id: I3b12c7b7f1ba6ac1875df495d89e8cfec921ca80

2026-05-05 10:33:18 -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

Clean-up flex assumptions.

2026-04-22 08:01:34 -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

Implement bending forces for interpolated flex shells.

2026-05-05 10:33:18 -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

Remove vertcollide attribute from flex contact.

2026-03-18 07:59:57 -07:00

poncho.xml

Add vertex equality option.

2026-01-23 16:30:05 -08:00

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