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
@@ -5337,6 +5337,7 @@ public unsafe struct mjModel_ {
  public double* flex_edgedamping;
  public byte* flex_edgeequality;
  public byte* flex_rigid;
+  public byte* flexedge_rigid;
  public byte* flex_centered;
  public byte* flex_flatskin;
  public int* flex_bvhadr;