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
@@ -948,11 +948,11 @@ void mj_energyPos(const mjModel* m, mjData* d) {
    }
  }

-  // add flex-level springs
+  // add flex-level springs for dim=1 (dim>1 requires plugins)
  if (!mjDISABLED(mjDSBL_PASSIVE)) {
    for (int i=0; i < m->nflex; i++) {
      stiffness = m->flex_edgestiffness[i];
-      if (m->flex_rigid[i] || stiffness == 0) {
+      if (m->flex_rigid[i] || stiffness == 0 || m->flex_dim[i] > 1) {
        continue;
      }