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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_model.cc
+9 -4
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@@ -3403,11 +3403,16 @@ void mjCModel::CopyObjects(mjModel* m) {
// find equality constraint referencing this flex
m->flex_edgeequality[i] = 0;
for (int k=0; k < (int)equalities_.size(); k++) {
if (equalities_[k]->type == mjEQ_FLEX && equalities_[k]->name1_ == pfl->name) {
m->flex_edgeequality[i] = 1;
break;
if (equalities_[k]->name1_ == pfl->name) {
if (equalities_[k]->type == mjEQ_FLEX) {
m->flex_edgeequality[i] = 1;
break;
}
if (equalities_[k]->type == mjEQ_FLEXVERT) {
m->flex_edgeequality[i] = 2;
break;
}
}
// TODO: support flex_edgeequality = 2
}
// copy bvh data (flex aabb computed dynamically in mjData)