Add dof="2d" option to flexcomp for in-plane deformations.

PiperOrigin-RevId: 902620719 Change-Id: Ib06d3f7b9439e1d90a8373a4289ade0c327e72e4
2026-04-20 07:13:17 -07:00
parent cad734ae70
commit 2d12dee025
6 changed files with 513 additions and 2 deletions
@@ -932,7 +932,8 @@ const mjMap fdof_map[mjNFCOMPDOFS] = {
  {"full",          mjFCOMPDOF_FULL},
  {"radial",        mjFCOMPDOF_RADIAL},
  {"trilinear",     mjFCOMPDOF_TRILINEAR},
-  {"quadratic",     mjFCOMPDOF_QUADRATIC}
+  {"quadratic",     mjFCOMPDOF_QUADRATIC},
+  {"2d",            mjFCOMPDOF_2D}
 };