Move bending stiffness from plugin to the compiler.

PiperOrigin-RevId: 758677644 Change-Id: I7d5c5140ba6948002bfa4ae9d6b4bf0f6de0e39b
2025-05-14 07:38:25 -07:00
parent d8bebdc675
commit 71bdd915f7
23 changed files with 134 additions and 154 deletions
@@ -1246,6 +1246,7 @@ 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_stiffness;       // finite element stiffness matrix          (nflexelem x 21)
+  mjtNum*   flex_bending;         // bending stiffness                        (nflexedge x 16)
  mjtNum*   flex_damping;         // Rayleigh's damping coefficient           (nflex x 1)
  mjtNum*   flex_edgestiffness;   // edge stiffness                           (nflex x 1)
  mjtNum*   flex_edgedamping;     // edge damping                             (nflex x 1)
@@ -2078,6 +2079,7 @@ typedef struct mjsFlex_ {          // flex specification
  double poisson;                  // Poisson's ratio
  double damping;                  // Rayleigh's damping
  double thickness;                // thickness (2D only)
+  int elastic2d;                   // 2D passive forces; 0: none, 1: bending, 2: stretching, 3: both

  // mesh properties
  mjStringVec* nodebody;           // node body names