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Refactor flex stiffness storage to support variable sizes.

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This change introduces `nflexstiffness` and `flex_stiffnessadr` to allow flex stiffness matrices to have sizes other than the fixed 21 per element. Higher-order flexes can now store larger stiffness matrices based on their number of nodes. The `flex_stiffnessadr` array provides the starting index for each flex's stiffness data within the `flex_stiffness` array.

PiperOrigin-RevId: 899632263
Change-Id: Ie49182c46c3777acf0c6b492345edfcf62fb5e44
This commit is contained in:
Alessio Quaglino
2026-04-14 09:38:17 -07:00
committed by Copybara-Service
parent 08bb6e66f1
commit 5724158593
14 changed files with 100 additions and 48 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/includes/references.h
+3 -1
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@@ -1040,6 +1040,7 @@ struct mjModel_ {
mjtSize nflexedge; // number of edges in all flexes
mjtSize nflexelem; // number of elements in all flexes
mjtSize nflexelemdata; // number of element vertex ids in all flexes
mjtSize nflexstiffness; // number of stiffness parameters in all flexes
mjtSize nflexelemedge; // number of element edge ids in all flexes
mjtSize nflexshelldata; // number of shell fragment vertex ids in all flexes
mjtSize nflexevpair; // number of element-vertex pairs in all flexes
@@ -1323,6 +1324,7 @@ struct mjModel_ {
int* flex_elemadr; // first element address (nflex x 1)
int* flex_elemnum; // number of elements (nflex x 1)
int* flex_elemdataadr; // first element vertex id address (nflex x 1)
int* flex_stiffnessadr; // stiffness matrix address (nflex x 1)
int* flex_elemedgeadr; // first element edge id address (nflex x 1)
int* flex_shellnum; // number of shells (nflex x 1)
int* flex_shelldataadr; // first shell data address (nflex x 1)
@@ -1351,7 +1353,7 @@ struct mjModel_ {
mjtNum* flexedge_invweight0; // edge inv. weight in qpos0 (nflexedge x 1)
mjtNum* flex_radius; // radius around primitive element (nflex x 1)
mjtNum* flex_size; // vertex bounding box half sizes in qpos0 (nflex x 3)
mjtNum* flex_stiffness; // finite element stiffness matrix (nflexelem x 21)
mjtNum* flex_stiffness; // finite element stiffness matrix (nflexstiffness x 1)
mjtNum* flex_bending; // bending stiffness (nflexedge x 17)
mjtNum* flex_damping; // Rayleigh's damping coefficient (nflex x 1)
mjtNum* flex_edgestiffness; // edge stiffness (nflex x 1)
include/mujoco/mjmodel.h
+3 -1
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@@ -703,6 +703,7 @@ struct mjModel_ {
mjtSize nflexedge; // number of edges in all flexes
mjtSize nflexelem; // number of elements in all flexes
mjtSize nflexelemdata; // number of element vertex ids in all flexes
mjtSize nflexstiffness; // number of stiffness parameters in all flexes
mjtSize nflexelemedge; // number of element edge ids in all flexes
mjtSize nflexshelldata; // number of shell fragment vertex ids in all flexes
mjtSize nflexevpair; // number of element-vertex pairs in all flexes
@@ -986,6 +987,7 @@ struct mjModel_ {
int* flex_elemadr; // first element address (nflex x 1)
int* flex_elemnum; // number of elements (nflex x 1)
int* flex_elemdataadr; // first element vertex id address (nflex x 1)
int* flex_stiffnessadr; // stiffness matrix address (nflex x 1)
int* flex_elemedgeadr; // first element edge id address (nflex x 1)
int* flex_shellnum; // number of shells (nflex x 1)
int* flex_shelldataadr; // first shell data address (nflex x 1)
@@ -1014,7 +1016,7 @@ struct mjModel_ {
mjtNum* flexedge_invweight0; // edge inv. weight in qpos0 (nflexedge x 1)
mjtNum* flex_radius; // radius around primitive element (nflex x 1)
mjtNum* flex_size; // vertex bounding box half sizes in qpos0 (nflex x 3)
mjtNum* flex_stiffness; // finite element stiffness matrix (nflexelem x 21)
mjtNum* flex_stiffness; // finite element stiffness matrix (nflexstiffness x 1)
mjtNum* flex_bending; // bending stiffness (nflexedge x 17)
mjtNum* flex_damping; // Rayleigh's damping coefficient (nflex x 1)
mjtNum* flex_edgestiffness; // edge stiffness (nflex x 1)
include/mujoco/mjxmacro.h
+3 -1
View File
@@ -185,6 +185,7 @@
X( nflexedge ) \
X( nflexelem ) \
X( nflexelemdata ) \
X( nflexstiffness ) \
X( nflexelemedge ) \
X( nflexshelldata ) \
X( nflexevpair ) \
@@ -462,6 +463,7 @@
X ( int, flex_elemadr, nflex, 1 ) \
X ( int, flex_elemnum, nflex, 1 ) \
X ( int, flex_elemdataadr, nflex, 1 ) \
X ( int, flex_stiffnessadr, nflex, 1 ) \
X ( int, flex_elemedgeadr, nflex, 1 ) \
X ( int, flex_shellnum, nflex, 1 ) \
X ( int, flex_shelldataadr, nflex, 1 ) \
@@ -490,7 +492,7 @@
X ( mjtNum, flexedge_invweight0, nflexedge, 1 ) \
X ( mjtNum, flex_radius, nflex, 1 ) \
X ( mjtNum, flex_size, nflex, 3 ) \
X ( mjtNum, flex_stiffness, nflexelem, 21 ) \
X ( mjtNum, flex_stiffness, nflexstiffness, 1 ) \
X ( mjtNum, flex_bending, nflexedge, 17 ) \
X ( mjtNum, flex_damping, nflex, 1 ) \
X ( mjtNum, flex_edgestiffness, nflex, 1 ) \
python/mujoco/introspect/structs.py
+14 -1
View File
@@ -972,6 +972,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='mjtSize'),
doc='number of element vertex ids in all flexes',
),
StructFieldDecl(
name='nflexstiffness',
type=ValueType(name='mjtSize'),
doc='number of stiffness parameters in all flexes',
),
StructFieldDecl(
name='nflexelemedge',
type=ValueType(name='mjtSize'),
@@ -2735,6 +2740,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='first element vertex id address',
array_extent=('nflex',),
),
StructFieldDecl(
name='flex_stiffnessadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='stiffness matrix address',
array_extent=('nflex',),
),
StructFieldDecl(
name='flex_elemedgeadr',
type=PointerType(
@@ -2965,7 +2978,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
inner_type=ValueType(name='mjtNum'),
),
doc='finite element stiffness matrix',
array_extent=('nflexelem', 21),
array_extent=('nflexstiffness',),
),
StructFieldDecl(
name='flex_bending',
src/engine/engine_derivative.c
+1 -1
View File
@@ -899,7 +899,7 @@ static void mjd_flexInterp_kernel(const mjModel* m, mjData* d, mjtFlexOp op,
}
// get stiffness and damping
mjtNum* k = m->flex_stiffness + 21*m->flex_elemadr[f];
mjtNum* k = m->flex_stiffness + m->flex_stiffnessadr[f];
// skip if rigid or no stiffness
if (m->flex_rigid[f] || k[0] == 0) {
src/engine/engine_io.c
+20 -22
View File
@@ -205,11 +205,11 @@ void mj_makeModel(mjModel** dest,
mjtSize nbvhdynamic, mjtSize noct, mjtSize njnt, mjtSize ntree, mjtSize nM, mjtSize nB,
mjtSize nC, mjtSize nD, mjtSize ngeom, mjtSize nsite, mjtSize ncam, mjtSize nlight,
mjtSize nflex, mjtSize nflexnode, mjtSize nflexvert, mjtSize nflexedge, mjtSize nflexelem,
mjtSize nflexelemdata, mjtSize nflexelemedge, mjtSize nflexshelldata, mjtSize nflexevpair,
mjtSize nflextexcoord, mjtSize nJfe, mjtSize nJfv, mjtSize nmesh, mjtSize nmeshvert,
mjtSize nmeshnormal, mjtSize nmeshtexcoord, mjtSize nmeshface, mjtSize nmeshgraph,
mjtSize nmeshpoly, mjtSize nmeshpolyvert, mjtSize nmeshpolymap, mjtSize nskin,
mjtSize nskinvert, mjtSize nskintexvert, mjtSize nskinface, mjtSize nskinbone,
mjtSize nflexelemdata, mjtSize nflexstiffness, mjtSize nflexelemedge, mjtSize nflexshelldata,
mjtSize nflexevpair, mjtSize nflextexcoord, mjtSize nJfe, mjtSize nJfv, mjtSize nmesh,
mjtSize nmeshvert, mjtSize nmeshnormal, mjtSize nmeshtexcoord, mjtSize nmeshface,
mjtSize nmeshgraph, mjtSize nmeshpoly, mjtSize nmeshpolyvert, mjtSize nmeshpolymap,
mjtSize nskin, mjtSize nskinvert, mjtSize nskintexvert, mjtSize nskinface, mjtSize nskinbone,
mjtSize nskinbonevert, mjtSize nhfield, mjtSize nhfielddata, mjtSize ntex, mjtSize ntexdata,
mjtSize nmat, mjtSize npair, mjtSize nexclude, mjtSize neq, mjtSize ntendon, mjtSize nJten,
mjtSize nwrap, mjtSize nsensor, mjtSize nnumeric, mjtSize nnumericdata, mjtSize ntext,
@@ -293,6 +293,7 @@ void mj_makeModel(mjModel** dest,
m->nflexedge = nflexedge;
m->nflexelem = nflexelem;
m->nflexelemdata = nflexelemdata;
m->nflexstiffness = nflexstiffness;
m->nflexelemedge = nflexelemedge;
m->nflexshelldata = nflexshelldata;
m->nflexevpair = nflexevpair;
@@ -400,22 +401,19 @@ mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
// allocate new model if needed
if (!dest) {
mj_makeModel(
&dest, src->nq, src->nv, src->nu, src->na, src->nbody, src->nbvh,
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->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,
src->nskinbone, src->nskinbonevert, src->nhfield, src->nhfielddata,
src->ntex, src->ntexdata, src->nmat, src->npair, src->nexclude,
src->neq, src->ntendon, src->nJten, src->nwrap, src->nsensor,
src->nnumeric, src->nnumericdata, src->ntext, src->ntextdata,
src->ntuple, src->ntupledata, src->nkey, src->nmocap, src->nplugin,
src->npluginattr, src->nuser_body, src->nuser_jnt, src->nuser_geom,
src->nuser_site, src->nuser_cam, src->nuser_tendon, src->nuser_actuator,
&dest, src->nq, src->nv, src->nu, src->na, src->nbody, src->nbvh, 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->nflexstiffness,
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, src->nskinbone, src->nskinbonevert,
src->nhfield, src->nhfielddata, src->ntex, src->ntexdata, src->nmat, src->npair,
src->nexclude, src->neq, src->ntendon, src->nJten, src->nwrap, src->nsensor, src->nnumeric,
src->nnumericdata, src->ntext, src->ntextdata, src->ntuple, src->ntupledata, src->nkey,
src->nmocap, src->nplugin, src->npluginattr, src->nuser_body, src->nuser_jnt,
src->nuser_geom, src->nuser_site, src->nuser_cam, src->nuser_tendon, src->nuser_actuator,
src->nuser_sensor, src->nnames, src->npaths);
}
if (!dest) {
@@ -599,7 +597,7 @@ mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
sizes[56], sizes[57], sizes[58], sizes[59], sizes[60], sizes[61], sizes[62],
sizes[63], sizes[64], sizes[65], sizes[66], sizes[67], sizes[68], sizes[69],
sizes[70], sizes[71], sizes[72], sizes[73], sizes[74], sizes[75], sizes[76],
sizes[77]);
sizes[77], sizes[78]);
// mj_makeModel may fail if the input buffer has invalid sizes
if (!m) {
src/engine/engine_io.h
+1 -1
View File
@@ -52,7 +52,7 @@ void mj_makeModel(mjModel** dest,
mjtSize nbvhdynamic, mjtSize noct, mjtSize njnt, mjtSize ntree, mjtSize nM, mjtSize nB,
mjtSize nC, mjtSize nD, mjtSize ngeom, mjtSize nsite, mjtSize ncam, mjtSize nlight,
mjtSize nflex, mjtSize nflexnode, mjtSize nflexvert, mjtSize nflexedge, mjtSize nflexelem,
mjtSize nflexelemdata, mjtSize nflexelemedge, mjtSize nflexshelldata, mjtSize nflexevpair,
mjtSize nflexelemdata, mjtSize nflexstiffness, mjtSize nflexelemedge, mjtSize nflexshelldata, mjtSize nflexevpair,
mjtSize nflextexcoord, mjtSize nJfe, mjtSize nJfv, mjtSize nmesh, mjtSize nmeshvert,
mjtSize nmeshnormal, mjtSize nmeshtexcoord, mjtSize nmeshface, mjtSize nmeshgraph,
mjtSize nmeshpoly, mjtSize nmeshpolyvert, mjtSize nmeshpolymap, mjtSize nskin,
src/engine/engine_passive.c
+1 -1
View File
@@ -201,7 +201,7 @@ static void mj_springdamper(const mjModel* m, mjData* d) {
// flex elasticity
for (int f=0; f < m->nflex; f++) {
mjtNum* k = m->flex_stiffness + 21*m->flex_elemadr[f];
mjtNum* k = m->flex_stiffness + m->flex_stiffnessadr[f];
mjtNum* b = m->flex_bending + 17*m->flex_edgeadr[f];
int dim = m->flex_dim[f];
int nodenum = m->flex_nodenum[f];
src/user/user_mesh.cc
+7 -6
View File
@@ -4271,12 +4271,8 @@ void mjCFlex::Compile(const mjVFS* vfs) {
}
// linear elasticity
stiffness.assign(21*nelem, 0);
if (interpolated) {
int min_size = ceil(nodexpos.size()*nodexpos.size() / 21);
if (min_size > nelem) {
throw mjCError(this, "Trilinear dofs are require at least %d elements", "", min_size);
}
if (!interpolated) {
stiffness.assign(21 * nelem, 0);
}
// geometrically nonlinear elasticity
@@ -4333,6 +4329,11 @@ void mjCFlex::Compile(const mjVFS* vfs) {
}
if (!stiffness_cached && young > 0 && interpolated) {
int n = pow(order_ + 1, 3);
int ndof = 3 * n;
if (stiffness.size() < ndof * ndof) {
stiffness.resize(ndof * ndof, 0);
}
ComputeLinearStiffness(stiffness, nodexpos.data(), young, poisson, order_);
}
src/user/user_model.cc
+27 -9
View File
@@ -1194,6 +1194,7 @@ void mjCModel::Clear() {
nflexedge = 0;
nflexelem = 0;
nflexelemdata = 0;
nflexstiffness = 0;
nflexelemedge = 0;
nflexshelldata = 0;
nflexevpair = 0;
@@ -2177,6 +2178,7 @@ void mjCModel::SetSizes() {
}
nbvh = nbvhstatic + nbvhdynamic;
int extra_stiffness_size = 0;
// flex counts
for (int i=0; i < nflex; i++) {
nflexnode += flexes_[i]->nnode;
@@ -2188,6 +2190,9 @@ void mjCModel::SetSizes() {
nflexshelldata += (int)flexes_[i]->shell.size();
nflexevpair += (int)flexes_[i]->evpair.size()/2;
nflextexcoord += (flexes_[i]->HasTexcoord() ? flexes_[i]->get_texcoord().size()/2 : 0);
if (flexes_[i]->order_ != 0) {
extra_stiffness_size += (3 * flexes_[i]->nnode) * (3 * flexes_[i]->nnode);
}
if (flexes_[i]->interpolated || flexes_[i]->rigid) {
continue;
}
@@ -2237,6 +2242,9 @@ void mjCModel::SetSizes() {
}
}
}
// TODO: This can be compacted further when we update mjwarp to not rely on
// 21*elem_adr for non-interpolated flexes.
nflexstiffness = nflexelem * 21 + extra_stiffness_size;
// mesh counts
for (int i=0; i < nmesh; i++) {
@@ -3435,6 +3443,8 @@ void mjCModel::CopyObjects(mjModel* m) {
shelldata_adr = 0;
evpair_adr = 0;
texcoord_adr = 0;
int standard_stiffness_size = 21 * m->nflexelem;
int current_extra_stiffness_adr = standard_stiffness_size;
for (int i=0; i < nflex; i++) {
// get pointer
mjCFlex* pfl = flexes_[i];
@@ -3457,10 +3467,18 @@ void mjCModel::CopyObjects(mjModel* m) {
mjuu_copyvec(m->flex_rgba + 4 * i, pfl->rgba, 4);
// elasticity
if (!pfl->stiffness.empty()) {
mjuu_copyvec(m->flex_stiffness + 21 * elem_adr, pfl->stiffness.data(), pfl->stiffness.size());
if (pfl->order_ == 0) {
m->flex_stiffnessadr[i] = 21 * elem_adr;
} else {
mjuu_zerovec(m->flex_stiffness + 21 * elem_adr, 21 * pfl->nelem);
m->flex_stiffnessadr[i] = current_extra_stiffness_adr;
current_extra_stiffness_adr += (3 * pfl->nnode) * (3 * pfl->nnode);
}
if (!pfl->stiffness.empty()) {
mjuu_copyvec(m->flex_stiffness + m->flex_stiffnessadr[i], pfl->stiffness.data(), pfl->stiffness.size());
} else {
int size = (pfl->order_ == 0) ? 21 * pfl->nelem : (3 * pfl->nnode) * (3 * pfl->nnode);
mjuu_zerovec(m->flex_stiffness + m->flex_stiffnessadr[i], size);
}
if (!pfl->bending.empty()) {
mjuu_copyvec(m->flex_bending + 17 * edge_adr, pfl->bending.data(), pfl->bending.size());
@@ -5125,12 +5143,12 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
mj_makeModel(&m,
nq, nv, nu, na, nbody, nbvh, nbvhstatic, nbvhdynamic, noct, njnt, ntree, nM, nB, nC,
nD, ngeom, nsite, ncam, nlight, nflex, nflexnode, nflexvert, nflexedge, nflexelem,
nflexelemdata, nflexelemedge, nflexshelldata, nflexevpair, nflextexcoord, nJfe, nJfv,
nmesh, nmeshvert, nmeshnormal, nmeshtexcoord, nmeshface, nmeshgraph, nmeshpoly,
nmeshpolyvert, nmeshpolymap, nskin, nskinvert, nskintexvert, nskinface, nskinbone,
nskinbonevert, nhfield, nhfielddata, ntex, ntexdata, nmat, npair, nexclude,
neq, ntendon, nJten, nwrap, nsensor, nnumeric, nnumericdata, ntext, ntextdata,
ntuple, ntupledata, nkey, nmocap, nplugin, npluginattr,
nflexelemdata, nflexstiffness, nflexelemedge, nflexshelldata, nflexevpair,
nflextexcoord, nJfe, nJfv, nmesh, nmeshvert, nmeshnormal, nmeshtexcoord, nmeshface,
nmeshgraph, nmeshpoly, nmeshpolyvert, nmeshpolymap, nskin, nskinvert, nskintexvert,
nskinface, nskinbone, nskinbonevert, nhfield, nhfielddata, ntex, ntexdata, nmat,
npair, nexclude, neq, ntendon, nJten, nwrap, nsensor, nnumeric, nnumericdata, ntext,
ntextdata, ntuple, ntupledata, nkey, nmocap, nplugin, npluginattr,
nuser_body, nuser_jnt, nuser_geom, nuser_site, nuser_cam,
nuser_tendon, nuser_actuator, nuser_sensor, nnames, npaths);
if (!m) {
src/user/user_model.h
+1
View File
@@ -96,6 +96,7 @@ class mjCModel_ : public mjsElement {
mjtSize nflexedge; // number of edges in all flexes
mjtSize nflexelem; // number of elements in all flexes
mjtSize nflexelemdata; // number of element vertex ids in all flexes
mjtSize nflexstiffness; // number of stiffness parameters in all flexes
mjtSize nflexelemedge; // number of element edges in all flexes
mjtSize nflexshelldata; // number of shell fragment vertex ids in all flexes
mjtSize nflexevpair; // number of element-vertex pairs in all flexes
test/user/user_flex_test.cc
+5 -3
View File
@@ -447,7 +447,7 @@ TEST_F(UserFlexTest, StiffnessMatrix) {
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
EXPECT_NE(m->flex_stiffness[0], 0);
EXPECT_NE(m->flex_stiffness[m->flex_stiffnessadr[0]], 0);
EXPECT_EQ(m->nflexnode, 8);
// constants are in the kernel
@@ -456,7 +456,8 @@ TEST_F(UserFlexTest, StiffnessMatrix) {
zeros[i] = 0;
ones[i] = 1;
}
mju_mulMatVec(res, m->flex_stiffness, ones, 3*m->nflexnode, 3*m->nflexnode);
mju_mulMatVec(res, m->flex_stiffness + m->flex_stiffnessadr[0], ones,
3 * m->nflexnode, 3 * m->nflexnode);
EXPECT_THAT(res, Pointwise(MjNear(1e-8, 1e-4), zeros));
mj_deleteModel(m);
@@ -496,7 +497,8 @@ TEST_F(UserFlexTest, StiffnessCacheDiffersByGeometry) {
// Same number of nodes but different stiffness due to different geometry
EXPECT_EQ(m_small->nflexnode, m_large->nflexnode);
EXPECT_NE(m_small->flex_stiffness[0], m_large->flex_stiffness[0]);
EXPECT_NE(m_small->flex_stiffness[m_small->flex_stiffnessadr[0]],
m_large->flex_stiffness[m_large->flex_stiffnessadr[0]]);
mj_deleteModel(m_small);
mj_deleteModel(m_large);
unity/Runtime/Bindings/MjBindings.cs
+2
View File
@@ -962,6 +962,7 @@ public unsafe struct mjModel_ {
public UInt64 nflexedge;
public UInt64 nflexelem;
public UInt64 nflexelemdata;
public UInt64 nflexstiffness;
public UInt64 nflexelemedge;
public UInt64 nflexshelldata;
public UInt64 nflexevpair;
@@ -1208,6 +1209,7 @@ public unsafe struct mjModel_ {
public int* flex_elemadr;
public int* flex_elemnum;
public int* flex_elemdataadr;
public int* flex_stiffnessadr;
public int* flex_elemedgeadr;
public int* flex_shellnum;
public int* flex_shelldataadr;
wasm/codegen/generated/bindings.cc
+12 -1
View File
@@ -3737,6 +3737,12 @@ struct MjModel {
void set_nflexelemdata(int value) {
ptr_->nflexelemdata = static_cast<mjtSize>(value);
}
int nflexstiffness() const {
return static_cast<int>(ptr_->nflexstiffness);
}
void set_nflexstiffness(int value) {
ptr_->nflexstiffness = static_cast<mjtSize>(value);
}
int nflexelemedge() const {
return static_cast<int>(ptr_->nflexelemedge);
}
@@ -4661,6 +4667,9 @@ struct MjModel {
emscripten::val flex_elemdataadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_elemdataadr));
}
emscripten::val flex_stiffnessadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_stiffnessadr));
}
emscripten::val flex_elemedgeadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_elemedgeadr));
}
@@ -4746,7 +4755,7 @@ struct MjModel {
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));
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexstiffness, ptr_->flex_stiffness));
}
emscripten::val flex_bending() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge * 17, ptr_->flex_bending));
@@ -11848,6 +11857,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("flex_solmix", &MjModel::flex_solmix)
.property("flex_solref", &MjModel::flex_solref)
.property("flex_stiffness", &MjModel::flex_stiffness)
.property("flex_stiffnessadr", &MjModel::flex_stiffnessadr)
.property("flex_texcoord", &MjModel::flex_texcoord)
.property("flex_texcoordadr", &MjModel::flex_texcoordadr)
.property("flex_vert", &MjModel::flex_vert)
@@ -12045,6 +12055,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("nflexevpair", &MjModel::nflexevpair, &MjModel::set_nflexevpair, reference())
.property("nflexnode", &MjModel::nflexnode, &MjModel::set_nflexnode, reference())
.property("nflexshelldata", &MjModel::nflexshelldata, &MjModel::set_nflexshelldata, reference())
.property("nflexstiffness", &MjModel::nflexstiffness, &MjModel::set_nflexstiffness, reference())
.property("nflextexcoord", &MjModel::nflextexcoord, &MjModel::set_nflextexcoord, reference())
.property("nflexvert", &MjModel::nflexvert, &MjModel::set_nflexvert, reference())
.property("ngeom", &MjModel::ngeom, &MjModel::set_ngeom, reference())