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
@@ -85,6 +85,12 @@ class mjCFlexcomp {
  std::vector<bool> used;         // is point used by any element (false: skip)
  std::vector<int> element;       // flex elements
  std::vector<float> texcoord;    // vertex texture coordinates
+
+  // plugin support
+  bool is_plugin;
+  std::string plugin_name;
+  std::string plugin_instance_name;
+  mjCPlugin* plugin_instance;
 };

 #endif  // MUJOCO_SRC_USER_USER_FLEXCOMP_H_