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Add Flex component.

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PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
This commit is contained in:
Alessio Quaglino
2023-10-12 10:15:46 +01:00
committed by Saran Tunyasuvunakool
parent 649a474788
commit 5a70ad08ab
82 changed files with 9658 additions and 1581 deletions
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src/engine/engine_core_constraint.h
+4 -14
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@@ -57,25 +57,15 @@ void mj_assignRef(const mjModel* m, mjtNum* target, const mjtNum* source);
// assign/override solver impedance parameters
void mj_assignImp(const mjModel* m, mjtNum* target, const mjtNum* source);
// assign/override geom/limit/tendon margin
// assign/clamp contact friction parameters
void mj_assignFriction(const mjModel* m, mjtNum* target, const mjtNum* source);
// assign/override geom margin
mjtNum mj_assignMargin(const mjModel* m, mjtNum source);
// add contact to d->contact list; return 0 if success; 1 if buffer full
MJAPI int mj_addContact(const mjModel* m, mjData* d, const mjContact* con);
// add #size rows to constraint Jacobian; set pos, margin, frictionloss, type, id
// result: 0=success; 1=buffer full
int mj_addConstraint(const mjModel* m, mjData* d,
const mjtNum* jac, const mjtNum* pos,
const mjtNum* margin, mjtNum frictionloss,
int size, int type, int id, int NV, const int* chain);
// merge dof chains for two bodies
int mj_mergeChain(const mjModel* m, int* chain, int b1, int b2);
// merge dof chains for two simple bodies
int mj_mergeChainSimple(const mjModel* m, int* chain, int b1, int b2);
//-------------------------- constraint instantiation ----------------------------------------------