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Add quadratic stiffness to flex.

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PiperOrigin-RevId: 827409919
Change-Id: I3dff8ea49fb1726fec4acf5b91138d6d52c4bfba
This commit is contained in:
Alessio Quaglino
2025-11-03 03:00:18 -08:00
committed by Copybara-Service
parent d4f13b4abc
commit 3a7aa84e53
10 changed files with 161 additions and 65 deletions
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src/engine/engine_core_constraint.c
+5 -5
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@@ -863,8 +863,8 @@ int mj_contactJacobian(const mjModel* m, mjData* d, const mjContact* con, int di
else {
// get bodies and weights
int nb = 0;
int bid[64];
mjtNum bweight[64];
int bid[729]; // 729 = 27*27
mjtNum bweight[729];
for (int side=0; side < 2; side++) {
int nw = 0;
int vid[4];
@@ -1121,8 +1121,8 @@ void mj_diagApprox(const mjModel* m, mjData* d) {
tran = rot = 0;
for (int side=0; side < 2; side++) {
// get bodies and weights
int nb = 0, bid[32], vid[4], nw = 0;
mjtNum bweight[32], bw[4];
int nb = 0, bid[729], vid[4], nw = 0;
mjtNum bweight[729], bw[4];
// geom
if (con->geom[side] >= 0) {
@@ -1808,7 +1808,7 @@ static int mj_nc(const mjModel* m, mjData* d, int* nnz) {
int NV = 0;
if (nnz) {
// get bodies
int nb = 0, bid[64];
int nb = 0, bid[729];
for (int side=0; side < 2; side++) {
int nw = 0;
int vid[4];