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Do not add bodies at mesh points for quadratic flex interpolation.

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PiperOrigin-RevId: 825001743
Change-Id: Ica085b947fb1c3f56251bceaa6a228f364535d3e
This commit is contained in:
Alessio Quaglino
2025-10-28 06:12:41 -07:00
committed by Copybara-Service
parent 3b79d3f14b
commit 1bfa8b6fa6
1 changed files with 2 additions and 2 deletions
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src/user/user_flexcomp.cc
+2 -2
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@@ -441,8 +441,8 @@ bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz) {
continue; continue;
} }
// pinned or trilinear: parent body // pinned or trilinear or quadratic: parent body
if (pinned[i] || doftype == mjFCOMPDOF_TRILINEAR) { if (pinned[i] || doftype == mjFCOMPDOF_TRILINEAR || doftype == mjFCOMPDOF_QUADRATIC) {
mjs_appendString(pf->vertbody, mjs_getName(body->element)->c_str()); mjs_appendString(pf->vertbody, mjs_getName(body->element)->c_str());
// add plugin // add plugin