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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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src/engine/engine_io.c
+5 -4
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@@ -220,7 +220,7 @@ void mj_makeModel(mjModel** dest,
int nbvhstatic, int nbvhdynamic, int noct, int njnt, int ntree,
int nM, int nB, int nC, int nD, int ngeom, int nsite, int ncam, int nlight,
int nflex, int nflexnode, int nflexvert, int nflexedge, int nflexelem, int nflexelemdata,
int nflexelemedge, int nflexshelldata, int nflexevpair, int nflextexcoord, int nJfe,
int nflexelemedge, int nflexshelldata, int nflexevpair, int nflextexcoord, int nJfe, int nJfv,
int nmesh, int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface,
int nmeshgraph, int nmeshpoly, int nmeshpolyvert, int nmeshpolymap, int nskin, int nskinvert,
int nskintexvert, int nskinface,
@@ -279,6 +279,7 @@ void mj_makeModel(mjModel** dest,
m->nflexevpair = nflexevpair;
m->nflextexcoord = nflextexcoord;
m->nJfe = nJfe;
m->nJfv = nJfv;
m->nmesh = nmesh;
m->nmeshvert = nmeshvert;
m->nmeshnormal = nmeshnormal;
@@ -406,8 +407,8 @@ mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
src->nbvhstatic, src->nbvhdynamic, src->noct, src->njnt, src->ntree,
src->nM, src->nB, src->nC, src->nD, src->ngeom, src->nsite, src->ncam,
src->nlight, src->nflex, src->nflexnode, src->nflexvert, src->nflexedge,
src->nflexelem, src->nflexelemdata, src->nflexelemedge,
src->nflexshelldata, src->nflexevpair, src->nflextexcoord, src->nJfe, src->nmesh,
src->nflexelem, src->nflexelemdata, src->nflexelemedge, src->nflexshelldata,
src->nflexevpair, src->nflextexcoord, src->nJfe, src->nJfv, src->nmesh,
src->nmeshvert, src->nmeshnormal, src->nmeshtexcoord, src->nmeshface,
src->nmeshgraph, src->nmeshpoly, src->nmeshpolyvert, src->nmeshpolymap,
src->nskin, src->nskinvert, src->nskintexvert, src->nskinface,
@@ -598,7 +599,7 @@ mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
ints[49], ints[50], ints[51], ints[52], ints[53], ints[54], ints[55],
ints[56], ints[57], ints[58], ints[59], ints[60], ints[61], ints[62],
ints[63], ints[64], ints[65], ints[66], ints[67], ints[68], ints[69],
ints[70], ints[71], ints[72], ints[73], ints[74], ints[75]);
ints[70], ints[71], ints[72], ints[73], ints[74], ints[75], ints[76]);
// read mjModel mjtSize fields
mjtSize sizes[8];