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Add mjmFlex to C API.

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PiperOrigin-RevId: 606264589
Change-Id: Ifd94f5241a3eaaf23653b136cece81c054f43202
This commit is contained in:
Alessio Quaglino
2024-02-12 08:46:57 -08:00
committed by Copybara-Service
parent ab209c41be
commit b224367a9b
11 changed files with 368 additions and 203 deletions
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src/user/user_init.cc
+25 -1
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@@ -167,7 +167,31 @@ void mjm_defaultLight(mjmLight& light) {
// Default material attributes.
// default flex attributes
void mjm_defaultFlex(mjmFlex& flex) {
memset(&flex, 0, sizeof(mjmFlex));
// set contact defaults
flex.contype = 1;
flex.conaffinity = 1;
flex.condim = 3;
mjuu_setvec(flex.friction, 1, 0.005, 0.0001);
flex.solmix = 1.0;
mj_defaultSolRefImp(flex.solref, flex.solimp);
// set other defaults
flex.dim = 2;
flex.radius = 0.005;
flex.internal = true;
flex.selfcollide = mjFLEXSELF_AUTO;
flex.activelayers = 1;
flex.rgba[0] = flex.rgba[1] = flex.rgba[2] = 0.5f;
flex.rgba[3] = 1.0f;
}
// default material attributes
void mjm_defaultMaterial(mjmMaterial& material) {
memset(&material, 0, sizeof(mjmMaterial));
material.texuniform = false;