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
@@ -65,11 +65,12 @@ mjCFlexcomp::mjCFlexcomp(void) {
  mjuu_setvec(scale, 1, 1, 1);
  mass = 1;
  inertiabox = 0.005;
-  equality = true;
+  equality = false;
  mjuu_setvec(pos, 0, 0, 0);
  mjuu_setvec(quat, 1, 0, 0, 0);
  rigid = false;
  centered = false;
+  plugin_instance = nullptr;
 }


@@ -453,6 +454,14 @@ bool mjCFlexcomp::Make(mjCModel* model, mjCBody* body, char* error, int error_sz
        pf->vert[3*i+1] = 0;
        pf->vert[3*i+2] = 0;
      }
+
+      // add plugin
+      if (plugin_instance) {
+        pb->is_plugin = true;
+        pb->plugin_name = plugin_name;
+        pb->plugin_instance = plugin_instance;
+        pb->plugin_instance_name = plugin_instance_name;
+      }
    }
  }