Add vertex-based flex constraints (dim=2).

PiperOrigin-RevId: 859552050 Change-Id: I61d4b9dc40f041c5b930e5f8810a803e8bccb87a
2026-01-22 04:54:11 -08:00
parent 2cc2e579f1
commit 54dd623650
15 changed files with 705 additions and 22 deletions
@@ -308,6 +308,8 @@ struct mjData_ {
  mjtNum* flexelem_aabb;     // flex element bounding boxes (center, size)       (nflexelem x 6)
  mjtNum* flexedge_J;        // flex edge Jacobian                               (nJfe x 1)
  mjtNum* flexedge_length;   // flex edge lengths                                (nflexedge x 1)
+  mjtNum* flexvert_J;        // flex vertex Jacobian                             (nJfv x 2)
+  mjtNum* flexvert_length;   // flex vertex lengths                              (nflexvert x 2)
  mjtNum* bvh_aabb_dyn;      // global bounding box (center, size)               (nbvhdynamic x 6)

  // computed by mj_fwdPosition/mj_tendon