Add passive collision mode for flexes.

PiperOrigin-RevId: 801754907 Change-Id: I4147af2ee2596519d42cb9a03cf8d5488f0bc3e8
2025-09-01 04:13:07 -07:00
parent b9900db00e
commit 8acd83f317
17 changed files with 320 additions and 134 deletions
@@ -899,6 +899,7 @@ struct mjModel_ {
  mjtByte*  flex_internal;        // internal flex collision enabled          (nflex x 1)
  int*      flex_selfcollide;     // self collision mode (mjtFlexSelf)        (nflex x 1)
  int*      flex_activelayers;    // number of active element layers, 3D only (nflex x 1)
+  int*      flex_passive;         // passive collisions enabled               (nflex x 1)

  // flexes: other properties
  int*      flex_dim;             // 1: lines, 2: triangles, 3: tetrahedra    (nflex x 1)