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
@@ -51,13 +51,9 @@ class Shell {

  // precomputed quantities
  std::vector<mjtNum> position;             // previous-step positions (nv x 3)
-  std::vector<mjtNum> bending;              // bending Hessian         (ne x 16)
-
-  mjtNum thickness;

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

 }  // namespace mujoco::plugin::elasticity