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Bending stiffness for curved shells in flex.

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PiperOrigin-RevId: 796361841
Change-Id: I105ea235fe2a8e1bcbde67276d77fa92eed214a1
This commit is contained in:
Alessio Quaglino
2025-08-18 04:12:34 -07:00
committed by Copybara-Service
parent 972ffd7b90
commit b66175eba6
18 changed files with 488 additions and 250 deletions
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src/user/user_model.cc
+2 -2
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@@ -3267,9 +3267,9 @@ void mjCModel::CopyObjects(mjModel* m) {
mjuu_zerovec(m->flex_stiffness + 21 * elem_adr, 21 * pfl->nelem);
}
if (!pfl->bending.empty()) {
mjuu_copyvec(m->flex_bending + 16 * edge_adr, pfl->bending.data(), pfl->bending.size());
mjuu_copyvec(m->flex_bending + 17 * edge_adr, pfl->bending.data(), pfl->bending.size());
} else {
mjuu_zerovec(m->flex_bending + 16 * edge_adr, 16 * pfl->nedge);
mjuu_zerovec(m->flex_bending + 17 * edge_adr, 17 * pfl->nedge);
}
m->flex_damping[i] = (mjtNum)pfl->damping;