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Move flex vertex-edge adjacency to mjModel.

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PiperOrigin-RevId: 861717037
Change-Id: I2ad8090b0318cb04b43d13966cb42260c82ef930
This commit is contained in:
Alessio Quaglino
2026-01-27 07:41:01 -08:00
committed by Copybara-Service
parent 669e9b7484
commit ba32568138
8 changed files with 239 additions and 175 deletions
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include/mujoco/mjmodel.h
+4
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@@ -984,6 +984,9 @@ struct mjModel_ {
int* flex_texcoordadr; // address in flex_texcoord; -1: none (nflex x 1)
int* flex_nodebodyid; // node body ids (nflexnode x 1)
int* flex_vertbodyid; // vertex body ids (nflexvert x 1)
int* flex_vertedgeadr; // first edge address (nflexvert x 1)
int* flex_vertedgenum; // number of edges (nflexvert x 1)
int* flex_vertedge; // edge indices (nflexedge x 2)
int* flex_edge; // edge vertex ids (2 per edge) (nflexedge x 2)
int* flex_edgeflap; // adjacent vertex ids (dim=2 only) (nflexedge x 2)
int* flex_elem; // element vertex ids (dim+1 per elem) (nflexelemdata x 1)
@@ -994,6 +997,7 @@ struct mjModel_ {
int* flex_evpair; // (element, vertex) collision pairs (nflexevpair x 2)
mjtNum* flex_vert; // vertex positions in local body frames (nflexvert x 3)
mjtNum* flex_vert0; // vertex positions in qpos0 on [0, 1]^d (nflexvert x 3)
mjtNum* flex_vertmetric; // inverse of reference shape matrix (nflexvert x 4)
mjtNum* flex_node; // node positions in local body frames (nflexnode x 3)
mjtNum* flex_node0; // Cartesian node positions in qpos0 (nflexnode x 3)
mjtNum* flexedge_length0; // edge lengths in qpos0 (nflexedge x 1)
include/mujoco/mjxmacro.h
+4
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@@ -372,6 +372,9 @@
X ( int, flex_texcoordadr, nflex, 1 ) \
X ( int, flex_nodebodyid, nflexnode, 1 ) \
X ( int, flex_vertbodyid, nflexvert, 1 ) \
X ( int, flex_vertedgeadr, nflexvert, 1 ) \
X ( int, flex_vertedgenum, nflexvert, 1 ) \
X ( int, flex_vertedge, nflexedge, 2 ) \
X ( int, flex_edge, nflexedge, 2 ) \
X ( int, flex_edgeflap, nflexedge, 2 ) \
X ( int, flex_elem, nflexelemdata, 1 ) \
@@ -382,6 +385,7 @@
X ( int, flex_evpair, nflexevpair, 2 ) \
X ( mjtNum, flex_vert, nflexvert, 3 ) \
X ( mjtNum, flex_vert0, nflexvert, 3 ) \
X ( mjtNum, flex_vertmetric, nflexvert, 4 ) \
X ( mjtNum, flex_node, nflexnode, 3 ) \
X ( mjtNum, flex_node0, nflexnode, 3 ) \
X ( mjtNum, flexedge_length0, nflexedge, 1 ) \