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

Change physical properties of `floppy_flex.xml` to resemble `floppy.xml`. Make `Membrane` backward compatible with `Composite`. PiperOrigin-RevId: 577190384 Change-Id: I5bc56ec62faa134156e839bec45d685c22eba5c4
2023-10-27 07:17:14 -07:00
parent f8c5ad2ba8
commit 40d927c9fa
7 changed files with 131 additions and 101 deletions
@@ -54,6 +54,7 @@ class Solid {
  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;