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
@@ -2619,6 +2619,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                 doc='edge vertex ids (2 per edge)',
                 array_extent=('nflexedge', 2),
             ),
+             StructFieldDecl(
+                 name='flex_edgeflap',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='adjacent vertex ids (dim=2 only)',
+                 array_extent=('nflexedge', 2),
+             ),
             StructFieldDecl(
                 name='flex_elem',
                 type=PointerType(