Set all flex edges to rigid when the flex is rigid.

PiperOrigin-RevId: 629740153 Change-Id: Ib2fb6f64e3d160268d2521d63830f41e44d03b20
2024-05-01 09:04:40 -07:00
parent ad5bee73ef
commit 7eb8c4b9f4
5 changed files with 58 additions and 4 deletions
@@ -408,6 +408,9 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
  mjs_setString(pf->name, name.c_str());
  mjs_setInt(pf->elem, element.data(), element.size());
  mjs_setFloat(pf->texcoord, texcoord.data(), texcoord.size());
+  if (!centered) {
+    mjs_setDouble(pf->vert, point.data(), point.size());
+  }

  // rigid: set parent name, nothing else to do
  if (rigid) {