Add vertex equality option.

PiperOrigin-RevId: 860299454 Change-Id: I7befd8e5f4c8bac6d74684a96a9cc3cee9ae1e29
2026-01-23 16:29:17 -08:00
parent a5de40b400
commit 7da271c687
24 changed files with 391 additions and 30 deletions
@@ -210,6 +210,7 @@ typedef enum mjtEq_ {             // type of equality constraint
  mjEQ_JOINT,                     // couple the values of two scalar joints with cubic
  mjEQ_TENDON,                    // couple the lengths of two tendons with cubic
  mjEQ_FLEX,                      // fix all edge lengths of a flex
+  mjEQ_FLEXVERT,                  // fix all vertex lengths of a flex
  mjEQ_DISTANCE                   // unsupported, will cause an error if used
 } mjtEq;