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
@@ -3043,6 +3043,11 @@ void mjCModel::CopyObjects(mjModel* m) {
    } else {
      mjuu_zerovec(m->flex_stiffness + 21 * elem_adr, 21 * pfl->nelem);
    }
+    if (!pfl->bending.empty()) {
+      mjuu_copyvec(m->flex_bending + 16 * edge_adr, pfl->bending.data(), pfl->bending.size());
+    } else {
+      mjuu_zerovec(m->flex_bending + 16 * edge_adr, 16 * pfl->nedge);
+    }
    m->flex_damping[i] = (mjtNum)pfl->damping;

    // set fields: mesh-like