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Move bending stiffness from plugin to the compiler.

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PiperOrigin-RevId: 758677644
Change-Id: I7d5c5140ba6948002bfa4ae9d6b4bf0f6de0e39b
This commit is contained in:
Alessio Quaglino
2025-05-14 07:38:25 -07:00
committed by Copybara-Service
parent d8bebdc675
commit 71bdd915f7
23 changed files with 134 additions and 154 deletions
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src/xml/xml_native_reader.cc
+5 -3
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@@ -311,7 +311,7 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
"flatskin", "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler", "origin"},
{"<"},
{"edge", "?", "5", "equality", "solref", "solimp", "stiffness", "damping"},
{"elasticity", "?", "4", "young", "poisson", "damping", "thickness"},
{"elasticity", "?", "5", "young", "poisson", "damping", "thickness", "elastic2d"},
{"contact", "?", "14", "contype", "conaffinity", "condim", "priority",
"friction", "solmix", "solref", "solimp", "margin", "gap",
"internal", "selfcollide", "activelayers", "vertcollide"},
@@ -332,7 +332,7 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
"friction", "solmix", "solref", "solimp", "margin", "gap",
"internal", "selfcollide", "activelayers", "vertcollide"},
{"edge", "?", "2", "stiffness", "damping"},
{"elasticity", "?", "4", "young", "poisson", "damping", "thickness"},
{"elasticity", "?", "5", "young", "poisson", "damping", "thickness", "elastic2d"},
{">"},
{"skin", "*", "9", "name", "file", "material", "rgba", "inflate",
"vertex", "texcoord", "face", "group"},
@@ -1401,6 +1401,7 @@ void mjXReader::OneFlex(XMLElement* elem, mjsFlex* flex) {
ReadAttr(elasticity, "poisson", 1, &flex->poisson, text);
ReadAttr(elasticity, "thickness", 1, &flex->thickness, text);
ReadAttr(elasticity, "damping", 1, &flex->damping, text);
ReadAttr(elasticity, "elastic2d", 1, &flex->elastic2d, text);
}
// write error info
@@ -2664,10 +2665,11 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjsBody* body, const mjVFS* vfs) {
ReadAttr(elasticity, "poisson", 1, &dflex.poisson, text);
ReadAttr(elasticity, "damping", 1, &dflex.damping, text);
ReadAttr(elasticity, "thickness", 1, &dflex.thickness, text);
ReadAttr(elasticity, "elastic2d", 1, &dflex.elastic2d, text);
}
// check errors
if (elasticity && fcomp.equality) {
if (dflex.elastic2d >= 2 && fcomp.equality) {
throw mjXError(elem, "elasticity and edge constraints cannot both be present");
}