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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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wasm/codegen/generated/bindings.cc
+35
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@@ -2157,6 +2157,9 @@ struct MjsFlex {
void set_radius(double value) {
ptr_->radius = value;
}
emscripten::val size() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->size));
}
mjtByte internal() const {
return ptr_->internal;
}
@@ -3585,6 +3588,12 @@ struct MjModel {
void set_nJfe(int value) {
ptr_->nJfe = value;
}
int nJfv() const {
return ptr_->nJfv;
}
void set_nJfv(int value) {
ptr_->nJfv = value;
}
int nmesh() const {
return ptr_->nmesh;
}
@@ -4521,6 +4530,9 @@ struct MjModel {
emscripten::val flex_radius() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_radius));
}
emscripten::val flex_size() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex * 3, ptr_->flex_size));
}
emscripten::val flex_stiffness() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexelem * 21, ptr_->flex_stiffness));
}
@@ -4566,6 +4578,15 @@ struct MjModel {
emscripten::val flexedge_J_colind() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nJfe, ptr_->flexedge_J_colind));
}
emscripten::val flexvert_J_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert * 2, ptr_->flexvert_J_rownnz));
}
emscripten::val flexvert_J_rowadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert * 2, ptr_->flexvert_J_rowadr));
}
emscripten::val flexvert_J_colind() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nJfv * 2, ptr_->flexvert_J_colind));
}
emscripten::val flex_rgba() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex * 4, ptr_->flex_rgba));
}
@@ -6306,6 +6327,12 @@ struct MjData {
emscripten::val flexedge_length() const {
return emscripten::val(emscripten::typed_memory_view(model->nflexedge, ptr_->flexedge_length));
}
emscripten::val flexvert_J() const {
return emscripten::val(emscripten::typed_memory_view(model->nJfv * 2, ptr_->flexvert_J));
}
emscripten::val flexvert_length() const {
return emscripten::val(emscripten::typed_memory_view(model->nflexvert * 2, ptr_->flexvert_length));
}
emscripten::val bvh_aabb_dyn() const {
return emscripten::val(emscripten::typed_memory_view(model->nbvhdynamic * 6, ptr_->bvh_aabb_dyn));
}
@@ -11019,6 +11046,8 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("flexedge_length", &MjData::flexedge_length)
.property("flexedge_velocity", &MjData::flexedge_velocity)
.property("flexelem_aabb", &MjData::flexelem_aabb)
.property("flexvert_J", &MjData::flexvert_J)
.property("flexvert_length", &MjData::flexvert_length)
.property("flexvert_xpos", &MjData::flexvert_xpos)
.property("geom_xmat", &MjData::geom_xmat)
.property("geom_xpos", &MjData::geom_xpos)
@@ -11334,6 +11363,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("flex_shell", &MjModel::flex_shell)
.property("flex_shelldataadr", &MjModel::flex_shelldataadr)
.property("flex_shellnum", &MjModel::flex_shellnum)
.property("flex_size", &MjModel::flex_size)
.property("flex_solimp", &MjModel::flex_solimp)
.property("flex_solmix", &MjModel::flex_solmix)
.property("flex_solref", &MjModel::flex_solref)
@@ -11351,6 +11381,9 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("flexedge_invweight0", &MjModel::flexedge_invweight0)
.property("flexedge_length0", &MjModel::flexedge_length0)
.property("flexedge_rigid", &MjModel::flexedge_rigid)
.property("flexvert_J_colind", &MjModel::flexvert_J_colind)
.property("flexvert_J_rowadr", &MjModel::flexvert_J_rowadr)
.property("flexvert_J_rownnz", &MjModel::flexvert_J_rownnz)
.property("geom_aabb", &MjModel::geom_aabb)
.property("geom_bodyid", &MjModel::geom_bodyid)
.property("geom_conaffinity", &MjModel::geom_conaffinity)
@@ -11477,6 +11510,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("nC", &MjModel::nC, &MjModel::set_nC, reference())
.property("nD", &MjModel::nD, &MjModel::set_nD, reference())
.property("nJfe", &MjModel::nJfe, &MjModel::set_nJfe, reference())
.property("nJfv", &MjModel::nJfv, &MjModel::set_nJfv, reference())
.property("nJmom", &MjModel::nJmom, &MjModel::set_nJmom, reference())
.property("nM", &MjModel::nM, &MjModel::set_nM, reference())
.property("na", &MjModel::na, &MjModel::set_na, reference())
@@ -12048,6 +12082,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("radius", &MjsFlex::radius, &MjsFlex::set_radius, reference())
.property("rgba", &MjsFlex::rgba)
.property("selfcollide", &MjsFlex::selfcollide, &MjsFlex::set_selfcollide, reference())
.property("size", &MjsFlex::size)
.property("solimp", &MjsFlex::solimp)
.property("solmix", &MjsFlex::solmix, &MjsFlex::set_solmix, reference())
.property("solref", &MjsFlex::solref)