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
@@ -2510,6 +2510,7 @@ void mjCModel::CopyObjects(mjModel* m) {
    } else {
      mjuu_zerovec(m->flex_stiffness + 21 * elem_adr, 21 * pfl->nelem);
    }
+    m->flex_damping[i] = (mjtNum)pfl->damping;

    // set fields: mesh-like
    m->flex_dim[i] = pfl->dim;