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
@@ -437,6 +437,7 @@ typedef struct mjsFlex_ {          // flex specification
  mjtByte flatskin;                // render flex skin with flat shading
  int selfcollide;                 // mode for flex self collision
  int vertcollide;                 // mode for vertex collision
+  int passive;                     // mode for passive collisions
  int activelayers;                // number of active element layers in 3D
  int group;                       // group for visualizatioh
  double edgestiffness;            // edge stiffness