Add elasticity parameters to the schema.

PiperOrigin-RevId: 675115200 Change-Id: Ic6608ce61cbb857dca71b3d9cbdac057e8f1ac7a
2024-09-16 05:55:40 -07:00
parent 015bdeb756
commit b15de2c951
17 changed files with 146 additions and 52 deletions
@@ -424,6 +424,10 @@ typedef struct mjsFlex_ {          // flex specification
  double edgedamping;              // edge damping
  float rgba[4];                   // rgba when material is omitted
  mjString* material;              // name of material used for rendering
+  double young;                    // Young's modulus
+  double poisson;                  // Poisson's ratio
+  double damping;                  // Rayleigh's damping
+  double thickness;                // thickness (2D only)

  // mesh properties
  mjStringVec* vertbody;           // vertex body names