Add flex edge flap connectivity to mjModel.

PiperOrigin-RevId: 758593152 Change-Id: I79836df961972c9eae8037e5fcbfc3d0122645de
2025-05-14 02:49:46 -07:00
parent 2386dfd7da
commit 34e8ff1aad
11 changed files with 122 additions and 95 deletions
@@ -1229,6 +1229,7 @@ struct mjModel_ {
  int*      flex_nodebodyid;      // node body ids                            (nflexnode x 1)
  int*      flex_vertbodyid;      // vertex body ids                          (nflexvert x 1)
  int*      flex_edge;            // edge vertex ids (2 per edge)             (nflexedge x 2)
+  int*      flex_edgeflap;        // adjacent vertex ids (dim=2 only)         (nflexedge x 2)
  int*      flex_elem;            // element vertex ids (dim+1 per elem)      (nflexelemdata x 1)
  int*      flex_elemtexcoord;    // element texture coordinates (dim+1)      (nflexelemdata x 1)
  int*      flex_elemedge;        // element edge ids                         (nflexelemedge x 1)