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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_objects.cc
+2 -2
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@@ -5995,7 +5995,7 @@ void mjCEquality::ResolveReferences(const mjCModel* m) {
object_type = mjOBJ_JOINT;
} else if (type == mjEQ_TENDON) {
object_type = mjOBJ_TENDON;
} else if (type == mjEQ_FLEX) {
} else if (type == mjEQ_FLEX || type == mjEQ_FLEXVERT) {
object_type = mjOBJ_FLEX;
} else {
throw mjCError(this, "invalid type in equality constraint");
@@ -6052,7 +6052,7 @@ void mjCEquality::Compile(void) {
ResolveReferences(model);
// make sure flex is not rigid
if (type == mjEQ_FLEX && model->Flexes()[obj1id]->rigid) {
if ((type == mjEQ_FLEX || type == mjEQ_FLEXVERT) && model->Flexes()[obj1id]->rigid) {
throw mjCError(this, "rigid flex '%s' in equality constraint %d", name1_.c_str(), id);
}
}