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Add vertex equality option.

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PiperOrigin-RevId: 860299454
Change-Id: I7befd8e5f4c8bac6d74684a96a9cc3cee9ae1e29
This commit is contained in:
Alessio Quaglino
2026-01-23 16:29:17 -08:00
committed by Copybara-Service
parent a5de40b400
commit 7da271c687
24 changed files with 391 additions and 30 deletions
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src/user/user_flexcomp.cc
+2 -2
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@@ -81,7 +81,7 @@ mjCFlexcomp::mjCFlexcomp(void) {
mjuu_setvec(scale, 1, 1, 1);
mass = 1;
inertiabox = 0.005;
equality = false;
equality = 0;
mjuu_setvec(pos, 0, 0, 0);
mjuu_setvec(quat, 1, 0, 0, 0);
rigid = false;
@@ -602,7 +602,7 @@ bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz) {
if (equality) {
mjsEquality* pe = mjs_addEquality(&model->spec, &def.spec);
mjs_setDefault(pe->element, &model->Default()->spec);
pe->type = mjEQ_FLEX;
pe->type = equality == 1 ? mjEQ_FLEX : mjEQ_FLEXVERT;
pe->active = true;
mjs_setString(pe->name1, name.c_str());
}