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Move 2d and 3d plugin force computation to elasticity.h.

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Change physical properties of `floppy_flex.xml` to resemble `floppy.xml`.

Make `Membrane` backward compatible with `Composite`.

PiperOrigin-RevId: 577190384
Change-Id: I5bc56ec62faa134156e839bec45d685c22eba5c4
This commit is contained in:
Alessio Quaglino
2023-10-27 07:17:14 -07:00
committed by Copybara-Service
parent f8c5ad2ba8
commit 40d927c9fa
7 changed files with 131 additions and 101 deletions
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plugin/elasticity/membrane.h
+7 -2
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@@ -52,13 +52,18 @@ class Membrane {
std::vector<std::pair<int, int> > edges; // edge to vertex map (ne x 2)
// precomputed quantities
std::vector<mjtNum> metric; // geom-induced metric (nt x 9)
std::vector<mjtNum> metric; // geom-induced metric (nt x 9)
std::vector<mjtNum> reference; // reference lengths (ne x 1)
std::vector<mjtNum> deformed; // deformed lengths (ne x 1)
std::vector<mjtNum> previous; // previous-step lengths (ne x 1)
std::vector<mjtNum> elongation; // edge elongation (ne x 1)
mjtNum damping;
mjtNum thickness;
private:
Membrane(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
mjtNum thick, const std::vector<int>& simplex,
mjtNum thick, mjtNum damp, const std::vector<int>& simplex,
const std::vector<int>& edgeidx);
};