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Add quadratic interpolation to flex.

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PiperOrigin-RevId: 822055781
Change-Id: Ibc252ac560de666b0b28f868e46b88d3ed92f67d
This commit is contained in:
Alessio Quaglino
2025-10-21 04:35:44 -07:00
committed by Copybara-Service
parent 59f14485e0
commit 01d1ac34e0
8 changed files with 77 additions and 19 deletions
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src/engine/engine_core_smooth.c
+1 -1
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@@ -462,7 +462,7 @@ void mj_flex(const mjModel* m, mjData* d) {
// trilinear interpolation
else {
mjtNum nodexpos[mjMAXFLEXNODES];
mjtNum nodexpos[3*mjMAXFLEXNODES];
if (m->flex_centered[f]) {
for (int i=nstart; i < nend; i++) {
mju_copy3(nodexpos + 3*(i-nstart), d->xpos + 3*m->flex_nodebodyid[i]);