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Replace flex_xvert0 with flex_vert0

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`flex_xvert0` stored the Cartesian position of the vertices in `qpos0`. This array was unused, so it is now replaced with `flex_vert0`, which still contains the positions of the vertices, but normalized on the bounding box of the flex so that the coordinates are in `[0,1]^m->flex_dim`. This will be useful in the future for using different interpolation methods for computing flex deformations.

PiperOrigin-RevId: 691779361
Change-Id: I5c4223103cd4558f4e268fe3e8d8177541e4754f
This commit is contained in:
Alessio Quaglino
2024-10-31 06:29:39 -07:00
committed by Copybara-Service
parent 26ccaeb78e
commit 94bbf297fc
7 changed files with 77 additions and 19 deletions
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unity/Runtime/Bindings/MjBindings.cs
+1 -1
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@@ -5428,7 +5428,7 @@ public unsafe struct mjModel_ {
public int* flex_shell;
public int* flex_evpair;
public double* flex_vert;
public double* flex_xvert0;
public double* flex_vert0;
public double* flexedge_length0;
public double* flexedge_invweight0;
public double* flex_radius;