chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Define kNumEdges and kNumVerts constants in Solid plugin.

Browse Source 
PiperOrigin-RevId: 493587525
Change-Id: Ifa82211a4dfc3b288825b0961c48fc679aae204c
This commit is contained in:
Alessio Quaglino
2022-12-07 06:30:02 -08:00
committed by Copybara-Service
parent 7baee096a5
commit b712e0757e
3 changed files with 61 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/plugin/elasticity/elasticity_test.cc
+2 -2
View File
@@ -91,8 +91,8 @@ TEST_F(PluginTest, ElasticEnergy) {
mjtNum volume = 1./6.;
for (int e1 = 0; e1 < 6; e1++) {
for (int e2 = 0; e2 < 6; e2++) {
int idx1 = solid->tetrahedra[t].edges[e1];
int idx2 = solid->tetrahedra[t].edges[e2];
int idx1 = solid->elements[t].edges[e1];
int idx2 = solid->elements[t].edges[e2];
mjtNum elongation1 = scale*solid->reference[idx1];
mjtNum elongation2 = scale*solid->reference[idx2];
energy += solid->metric[36*t+6*e2+e1] * elongation1 * elongation2;