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

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PiperOrigin-RevId: 859552050
Change-Id: I61d4b9dc40f041c5b930e5f8810a803e8bccb87a
This commit is contained in:
Alessio Quaglino
2026-01-22 04:54:11 -08:00
committed by Copybara-Service
parent 2cc2e579f1
commit 54dd623650
15 changed files with 705 additions and 22 deletions
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include/mujoco/mjxmacro.h
+8 -1
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@@ -97,6 +97,7 @@
X( nflexevpair ) \
X( nflextexcoord ) \
X( nJfe ) \
X( nJfv ) \
X( nmesh ) \
X( nmeshvert ) \
X( nmeshnormal ) \
@@ -386,12 +387,13 @@
X ( mjtNum, flexedge_length0, nflexedge, 1 ) \
X ( mjtNum, flexedge_invweight0, nflexedge, 1 ) \
X ( mjtNum, flex_radius, nflex, 1 ) \
X ( mjtNum, flex_size, nflex, 3 ) \
X ( mjtNum, flex_stiffness, nflexelem, 21 ) \
X ( mjtNum, flex_bending, nflexedge, 17 ) \
X ( mjtNum, flex_damping, nflex, 1 ) \
X ( mjtNum, flex_edgestiffness, nflex, 1 ) \
X ( mjtNum, flex_edgedamping, nflex, 1 ) \
X ( mjtByte, flex_edgeequality, nflex, 1 ) \
X ( int, flex_edgeequality, nflex, 1 ) \
X ( mjtByte, flex_rigid, nflex, 1 ) \
X ( mjtByte, flexedge_rigid, nflexedge, 1 ) \
X ( mjtByte, flex_centered, nflex, 1 ) \
@@ -401,6 +403,9 @@
X ( int, flexedge_J_rownnz, nflexedge, 1 ) \
X ( int, flexedge_J_rowadr, nflexedge, 1 ) \
X ( int, flexedge_J_colind, nJfe, 1 ) \
X ( int, flexvert_J_rownnz, nflexvert, 2 ) \
X ( int, flexvert_J_rowadr, nflexvert, 2 ) \
X ( int, flexvert_J_colind, nJfv, 2 ) \
X ( float, flex_rgba, nflex, 4 ) \
X ( float, flex_texcoord, nflextexcoord, 2 )
@@ -736,6 +741,8 @@
X ( mjtNum, flexelem_aabb, nflexelem, 6 ) \
X ( mjtNum, flexedge_J, nJfe, 1 ) \
X ( mjtNum, flexedge_length, nflexedge, 1 ) \
X ( mjtNum, flexvert_J, nJfv, 2 ) \
X ( mjtNum, flexvert_length, nflexvert, 2 ) \
X ( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \
X ( int, ten_wrapadr, ntendon, 1 ) \
X ( int, ten_wrapnum, ntendon, 1 ) \