Add implicit stiffness for flex_interp to mj_implicitSkip.

PiperOrigin-RevId: 867706885 Change-Id: Ic94c65b618a415609bffe3d69a86f9034f2d2400
2026-02-09 11:53:56 -08:00
parent c1b3b3063e
commit 0041fdcbb0
9 changed files with 910 additions and 70 deletions
@@ -28,6 +28,10 @@ extern "C" {
 // all passive forces
 MJAPI void mj_passive(const mjModel* m, mjData* d);

+// compute interpolated flex state: xpos, vel, quat
+MJAPI void mj_flexInterpState(const mjModel* m, mjData* d, int f,
+                              mjtNum* xpos, mjtNum* vel, mjtNum* quat);
+

 //------------------------- fluid models -----------------------------------------------------------