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

PiperOrigin-RevId: 575161094 Change-Id: If4153bcb751cdd6dbdddeb08672f7107c7c5bbc2
2023-10-20 02:48:46 -07:00
parent e4a9f535a4
commit 01a932e052
12 changed files with 97 additions and 38 deletions
@@ -345,6 +345,7 @@
    X   ( mjtNum,  flex_edgedamping,      nflex,         1                    ) \
    X   ( mjtByte, flex_edgeequality,     nflex,         1                    ) \
    X   ( mjtByte, flex_rigid,            nflex,         1                    ) \
+    X   ( mjtByte, flexedge_rigid,        nflexedge,     1                    ) \
    X   ( mjtByte, flex_centered,         nflex,         1                    ) \
    XMJV( mjtByte, flex_flatskin,         nflex,         1                    ) \
    XMJV( int,     flex_bvhadr,           nflex,         1                    ) \