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
@@ -3321,6 +3321,7 @@ void mjCModel::CopyObjects(mjModel* m) {
    m->flex_flatskin[i] = pfl->flatskin;
    m->flex_selfcollide[i] = pfl->selfcollide;
    m->flex_activelayers[i] = pfl->activelayers;
+    m->flex_passive[i] = pfl->passive;
    m->flex_bvhnum[i] = pfl->tree.Nbvh();
    m->flex_bvhadr[i] = pfl->tree.Nbvh() ? bvh_adr : -1;