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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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src/user/user_model.cc
+7
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@@ -3158,6 +3158,13 @@ void mjCModel::CopyObjects(mjModel* m) {
for (int k=0; k < pfl->nedge; k++) {
m->flex_edge[2*(edge_adr+k)] = pfl->edge[k].first;
m->flex_edge[2*(edge_adr+k)+1] = pfl->edge[k].second;
if (pfl->dim == 2) {
m->flex_edgeflap[2*(edge_adr+k)+0] = pfl->flaps[k].vertices[2];
m->flex_edgeflap[2*(edge_adr+k)+1] = pfl->flaps[k].vertices[3];
} else {
m->flex_edgeflap[2*(edge_adr+k)+0] = -1;
m->flex_edgeflap[2*(edge_adr+k)+1] = -1;
}
if (pfl->rigid) {
m->flexedge_rigid[edge_adr+k] = 1;