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Add flex elasticity stiffness matrix to mjModel.

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PiperOrigin-RevId: 675101645
Change-Id: Ic169c108b9eece3657ea4ec211df357abe615b7e
This commit is contained in:
Alessio Quaglino
2024-09-16 04:59:55 -07:00
committed by Copybara-Service
parent c77babe046
commit 2da15cf137
12 changed files with 71 additions and 29 deletions
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include/mujoco/mjmodel.h
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@@ -878,6 +878,7 @@ struct mjModel_ {
mjtNum* flexedge_length0; // edge lengths in qpos0 (nflexedge x 1)
mjtNum* flexedge_invweight0; // edge inv. weight in qpos0 (nflexedge x 1)
mjtNum* flex_radius; // radius around primitive element (nflex x 1)
mjtNum* flex_stiffness; // finite element stiffness matrix (nflexelem x 21)
mjtNum* flex_edgestiffness; // edge stiffness (nflex x 1)
mjtNum* flex_edgedamping; // edge damping (nflex x 1)
mjtByte* flex_edgeequality; // is edge equality constraint defined (nflex x 1)
include/mujoco/mjxmacro.h
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@@ -347,6 +347,7 @@
X ( mjtNum, flexedge_length0, nflexedge, 1 ) \
X ( mjtNum, flexedge_invweight0, nflexedge, 1 ) \
XMJV( mjtNum, flex_radius, nflex, 1 ) \
X ( mjtNum, flex_stiffness, nflexelem, 21 ) \
X ( mjtNum, flex_edgestiffness, nflex, 1 ) \
X ( mjtNum, flex_edgedamping, nflex, 1 ) \
X ( mjtByte, flex_edgeequality, nflex, 1 ) \