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
@@ -81,7 +81,7 @@ class mjCFlexcomp {
  double origin[3];               // origin for generating a 3D mesh from a convex 2D mesh
  double mass;                    // total mass of auto-generated bodies
  double inertiabox;              // size of inertia box for each body
-  bool equality;                  // create edge equality constraint
+  int equality;                   // create equality constraint, 0:none, 1:edge, 2:vert
  std::string file;               // mesh/gmsh file name
  mjtDof doftype;                 // dof type, all vertices or trilinear interpolation