Add flex elasticity stiffness matrix to mjModel.

PiperOrigin-RevId: 675101645 Change-Id: Ic169c108b9eece3657ea4ec211df357abe615b7e
2024-09-16 04:59:55 -07:00
parent c77babe046
commit 2da15cf137
12 changed files with 71 additions and 29 deletions
@@ -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                    ) \