Update Solid and Shell plugins to use FlexComp.

PiperOrigin-RevId: 573755821 Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
2023-10-16 03:02:14 -07:00
parent 93d1c3c92e
commit 110ade1435
26 changed files with 1988 additions and 177 deletions
@@ -64,14 +64,15 @@ class Shell {
  std::vector<mjtNum> position;             // previous-step positions (nv x 3)
  std::vector<mjtNum> bending;              // bending Hessian         (ne x 16)

-  mjtNum damping;
  mjtNum thickness;

 private:
  Shell(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
-        mjtNum damp, mjtNum thick, const std::vector<int>& face);
+        mjtNum thick, const std::vector<int>& face,
+        const std::vector<int>& edgeidx);

-  void CreateStencils(const std::vector<int>& face);
+  void CreateStencils(const std::vector<int>& simplex,
+                      const std::vector<int>& edgeidx);
 };

 }  // namespace mujoco::plugin::elasticity