chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add Flex component.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_island.c
+2 -2
View File
@@ -235,8 +235,8 @@ static int treeFirst(const mjModel* m, const mjData* d, int tree[2], int i) {
if (efc_type == mjCNSTR_CONTACT_FRICTIONLESS ||
efc_type == mjCNSTR_CONTACT_PYRAMIDAL ||
efc_type == mjCNSTR_CONTACT_ELLIPTIC) {
tree[0] = m->body_treeid[m->geom_bodyid[d->contact[efc_id].geom1]];
tree[1] = m->body_treeid[m->geom_bodyid[d->contact[efc_id].geom2]];
tree[0] = m->body_treeid[m->geom_bodyid[d->contact[efc_id].geom[0]]];
tree[1] = m->body_treeid[m->geom_bodyid[d->contact[efc_id].geom[1]]];
// handle static bodies
if (tree[0] < 0) {