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Fix flex constraint Jacobian for edges belonging to a single body.

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PiperOrigin-RevId: 575161094
Change-Id: If4153bcb751cdd6dbdddeb08672f7107c7c5bbc2
This commit is contained in:
Alessio Quaglino
2023-10-20 02:48:46 -07:00
committed by Copybara-Service
parent e4a9f535a4
commit 01a932e052
12 changed files with 97 additions and 38 deletions
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doc/includes/references.h
+2 -1
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@@ -944,7 +944,7 @@ struct mjModel_ {
int* body_treeid; // id of body's kinematic tree; -1: static (nbody x 1)
int* body_geomnum; // number of geoms (nbody x 1)
int* body_geomadr; // start addr of geoms; -1: no geoms (nbody x 1)
mjtByte* body_simple; // 1: diagonal M; 2: diag M, no rotations (nbody x 1)
mjtByte* body_simple; // 1: diag M; 2: diag M, sliders only (nbody x 1)
mjtByte* body_sameframe; // inertial frame is same as body frame (nbody x 1)
mjtNum* body_pos; // position offset rel. to parent body (nbody x 3)
mjtNum* body_quat; // orientation offset rel. to parent body (nbody x 4)
@@ -1122,6 +1122,7 @@ struct mjModel_ {
mjtNum* flex_edgedamping; // edge damping (nflex x 1)
mjtByte* flex_edgeequality; // is edge equality constraint defined (nflex x 1)
mjtByte* flex_rigid; // are all verices in the same body (nflex x 1)
mjtByte* flexedge_rigid; // are both edge vertices in same body (nflexedge x 1)
mjtByte* flex_centered; // are all vertex coordinates (0,0,0) (nflex x 1)
mjtByte* flex_flatskin; // render flex skin with flat shading (nflex x 1)
int* flex_bvhadr; // address of bvh root; -1: no bvh (nflex x 1)