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Add passive collision mode for flexes.

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PiperOrigin-RevId: 801754907
Change-Id: I4147af2ee2596519d42cb9a03cf8d5488f0bc3e8
This commit is contained in:
Alessio Quaglino
2025-09-01 04:13:07 -07:00
committed by Copybara-Service
parent b9900db00e
commit 8acd83f317
17 changed files with 320 additions and 134 deletions
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src/engine/engine_core_constraint.h
+7 -1
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@@ -65,9 +65,15 @@ void mj_instantiateFriction(const mjModel* m, mjData* d);
// joint and tendon limits
void mj_instantiateLimit(const mjModel* m, mjData* d);
// frictionelss and frictional contacts
// frictionless and frictional contacts
void mj_instantiateContact(const mjModel* m, mjData* d);
// compute Jacobian for contact, return number of DOFs affected
int mj_contactJacobian(const mjModel* m, mjData* d, const mjContact* con, int dim,
mjtNum* jac, mjtNum* jacdif, mjtNum* jacdifp,
mjtNum* jacdifr, mjtNum* jac1p, mjtNum* jac2p,
mjtNum* jac1r, mjtNum* jac2r, int* chain);
//------------------------ parameter computation/extraction ----------------------------------------