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Add flex edge flap connectivity to mjModel.

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PiperOrigin-RevId: 758593152
Change-Id: I79836df961972c9eae8037e5fcbfc3d0122645de
This commit is contained in:
Alessio Quaglino
2025-05-14 02:49:46 -07:00
committed by Copybara-Service
parent 2386dfd7da
commit 34e8ff1aad
11 changed files with 122 additions and 95 deletions
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include/mujoco/mjmodel.h
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@@ -896,6 +896,7 @@ 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)
include/mujoco/mjxmacro.h
+1
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@@ -349,6 +349,7 @@
XMJV( int, flex_nodebodyid, nflexnode, 1 ) \
X ( int, flex_vertbodyid, nflexvert, 1 ) \
X ( int, flex_edge, nflexedge, 2 ) \
X ( int, flex_edgeflap, nflexedge, 2 ) \
XMJV( int, flex_elem, nflexelemdata, 1 ) \
XMJV( int, flex_elemtexcoord, nflexelemdata, 1 ) \
X ( int, flex_elemedge, nflexelemedge, 1 ) \