Move elasticity force computation to the engine.

PiperOrigin-RevId: 676028775 Change-Id: I994e3dda8d6470815763c04df0c276e265aa1f54
2024-09-18 09:53:11 -07:00
parent e439b748a4
commit 66a9cacc90
6 changed files with 127 additions and 38 deletions
@@ -52,11 +52,9 @@ class Membrane {
  std::vector<mjtNum> force;                // force at all vertices  (nv x 3)

  mjtNum damping;
-  mjtNum thickness;

 private:
-  Membrane(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
-           mjtNum thick, mjtNum damp);
+  Membrane(const mjModel* m, mjData* d, int instance, mjtNum damp);
 };

 }  // namespace mujoco::plugin::elasticity