Allow pinning flexes to non-simple bodies. Fixes #1270.

PiperOrigin-RevId: 598865882 Change-Id: I105ff1910a7d67f5b7bcb46bcef0e5e388ec08ea
2024-01-16 09:31:15 -08:00
parent 3c1907e678
commit 80674149ce
5 changed files with 49 additions and 16 deletions
@@ -55,6 +55,7 @@ class Solid {
  std::vector<mjtNum> deformed;             // deformed lengths       (ne x 1)
  std::vector<mjtNum> previous;             // previous-step lengths  (ne x 1)
  std::vector<mjtNum> elongation;           // edge elongation        (ne x 1)
+  std::vector<mjtNum> force;                // force at all vertices  (nv x 3)

  mjtNum damping;