Move flex damping to the engine and remove membrane and solid plugins.

PiperOrigin-RevId: 676434954 Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
2024-09-19 09:00:13 -07:00
parent 6c7e1095c5
commit 4998e7b392
26 changed files with 88 additions and 618 deletions
@@ -1172,6 +1172,7 @@ struct mjModel_ {
  mjtNum*   flexedge_invweight0;  // edge inv. weight in qpos0                (nflexedge x 1)
  mjtNum*   flex_radius;          // radius around primitive element          (nflex x 1)
  mjtNum*   flex_stiffness;       // finite element stiffness matrix          (nflexelem x 21)
+  mjtNum*   flex_damping;         // Rayleigh's damping coefficient           (nflex x 1)
  mjtNum*   flex_edgestiffness;   // edge stiffness                           (nflex x 1)
  mjtNum*   flex_edgedamping;     // edge damping                             (nflex x 1)
  mjtByte*  flex_edgeequality;    // is edge equality constraint defined      (nflex x 1)