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
@@ -438,6 +438,7 @@ typedef struct mjsFlex_ {          // flex specification
  // other properties
  int dim;                         // element dimensionality
  double radius;                   // radius around primitive element
+  double size[3];                  // vertex bounding box half sizes in qpos0
  mjtByte internal;                // enable internal collisions
  mjtByte flatskin;                // render flex skin with flat shading
  int selfcollide;                 // mode for flex self collision