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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/user/user_model.h
+2 -1
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@@ -99,7 +99,8 @@ class mjCModel_ : public mjsElement {
int nflexshelldata; // number of shell fragment vertex ids in all flexes
int nflexevpair; // number of element-vertex pairs in all flexes
int nflextexcoord; // number of vertex texture coordinates in all flexes
int nJfe; // number of non-zeros in sparse flex constraint Jacobian
int nJfe; // number of non-zeros in sparse flex edge constraint Jacobian
int nJfv; // number of non-zeros in sparse flex vertex constraint Jacobian
int nmeshvert; // number of vertices in all meshes
int nmeshnormal; // number of normals in all meshes
int nmeshtexcoord; // number of texture coordinates in all meshes