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Remove edge length computations from elasticity plugins.

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Read the lengths from mjModel and mjData flex arrays.

PiperOrigin-RevId: 673116608
Change-Id: Iffa209abb7443707effaffb5bda99345399fac1c
This commit is contained in:
Alessio Quaglino
2024-09-10 14:53:31 -07:00
committed by Copybara-Service
parent e4d4153352
commit 33e56ccb88
5 changed files with 28 additions and 56 deletions
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plugin/elasticity/solid.h
+1 -3
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@@ -51,9 +51,7 @@ class Solid {
// precomputed quantities
std::vector<mjtNum> metric; // geom-induced metric (nt x 36)
std::vector<mjtNum> reference; // reference lengths (ne x 1)
std::vector<mjtNum> deformed; // deformed lengths (ne x 1)
std::vector<mjtNum> previous; // previous-step lengths (ne x 1)
std::vector<mjtNum> prev; // previous-step lengths (ne x 1)
std::vector<mjtNum> elongation; // edge elongation (ne x 1)
std::vector<mjtNum> force; // force at all vertices (nv x 3)