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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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unity/Runtime/Bindings/MjBindings.cs
+8 -1
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@@ -4983,6 +4983,8 @@ public unsafe struct mjData_ {
public double* flexelem_aabb;
public double* flexedge_J;
public double* flexedge_length;
public double* flexvert_J;
public double* flexvert_length;
public double* bvh_aabb_dyn;
public int* ten_wrapadr;
public int* ten_wrapnum;
@@ -5314,6 +5316,7 @@ public unsafe struct mjModel_ {
public int nflexevpair;
public int nflextexcoord;
public int nJfe;
public int nJfv;
public int nmesh;
public int nmeshvert;
public int nmeshnormal;
@@ -5572,12 +5575,13 @@ public unsafe struct mjModel_ {
public double* flexedge_length0;
public double* flexedge_invweight0;
public double* flex_radius;
public double* flex_size;
public double* flex_stiffness;
public double* flex_bending;
public double* flex_damping;
public double* flex_edgestiffness;
public double* flex_edgedamping;
public byte* flex_edgeequality;
public int* flex_edgeequality;
public byte* flex_rigid;
public byte* flexedge_rigid;
public byte* flex_centered;
@@ -5587,6 +5591,9 @@ public unsafe struct mjModel_ {
public int* flexedge_J_rownnz;
public int* flexedge_J_rowadr;
public int* flexedge_J_colind;
public int* flexvert_J_rownnz;
public int* flexvert_J_rowadr;
public int* flexvert_J_colind;
public float* flex_rgba;
public float* flex_texcoord;
public int* mesh_vertadr;