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Add circle to flexcomp and remove rope and loop from composite.

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Add pulley example to show a circle use case.

Switch on flex edge rendering by default (no effect when flex skin is rendered).

PiperOrigin-RevId: 700738379
Change-Id: I8469bbf194de01c8dab66c9a51c49879013df141
This commit is contained in:
Alessio Quaglino
2024-11-27 10:13:28 -08:00
committed by Copybara-Service
parent 85c6fc1bdb
commit 300450f8b8
9 changed files with 98 additions and 198 deletions
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src/user/user_composite.h
-2
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@@ -70,7 +70,6 @@ class mjCComposite {
bool MakeParticle(mjCModel* model, mjsBody* body, char* error, int error_sz);
bool MakeGrid(mjCModel* model, mjsBody* body, char* error, int error_sz);
bool MakeRope(mjCModel* model, mjsBody* body, char* error, int error_sz);
bool MakeCable(mjCModel* model, mjsBody* body, char* error, int error_sz);
void MakeShear(mjCModel* model);
@@ -124,7 +123,6 @@ class mjCComposite {
int dim; // dimensionality
private:
mjsBody* AddRopeBody(mjCModel* model, mjsBody* body, int ix, int ix1);
mjsBody* AddCableBody(mjCModel* model, mjsBody* body, int ix, double normal[3], double prev_quat[4]);
// temporary skin vectors