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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.h
+9 -8
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@@ -51,14 +51,15 @@ void mj_makeModel(mjModel** dest,
int nq, int nv, int nu, int na, int nbody, int nbvh, 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 nJfe, int nflexelemedge, int nflexshelldata, int nflexevpair, int nflextexcoord, 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,
int nskinbone, int nskinbonevert, int nhfield, int nhfielddata, int ntex, int ntexdata,
int nmat, int npair, int nexclude, int neq, int ntendon, int nwrap, int nsensor, int nnumeric,
int nnumericdata, int ntext, int ntextdata, int ntuple, int ntupledata, int nkey, int nmocap,
int nplugin, int npluginattr, int nuser_body, int nuser_jnt, int nuser_geom, int nuser_site,
int nuser_cam, int nuser_tendon, int nuser_actuator, int nuser_sensor, int nnames, int npaths);
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, int nskinbone, int nskinbonevert, int nhfield, int nhfielddata, int ntex,
int ntexdata, int nmat, int npair, int nexclude, int neq, int ntendon, int nwrap, int nsensor,
int nnumeric, int nnumericdata, int ntext, int ntextdata, int ntuple, int ntupledata, int nkey,
int nmocap, int nplugin, int npluginattr, int nuser_body, int nuser_jnt, int nuser_geom,
int nuser_site, int nuser_cam, int nuser_tendon, int nuser_actuator, int nuser_sensor,
int nnames, int npaths);
// copy mjModel; allocate new if dest is NULL
MJAPI mjModel* mj_copyModel(mjModel* dest, const mjModel* src);