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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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wasm/codegen/generated/bindings.cc
+16
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@@ -4486,6 +4486,15 @@ struct MjModel {
emscripten::val flex_vertbodyid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert, ptr_->flex_vertbodyid));
}
emscripten::val flex_vertedgeadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert, ptr_->flex_vertedgeadr));
}
emscripten::val flex_vertedgenum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert, ptr_->flex_vertedgenum));
}
emscripten::val flex_vertedge() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge * 2, ptr_->flex_vertedge));
}
emscripten::val flex_edge() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge * 2, ptr_->flex_edge));
}
@@ -4516,6 +4525,9 @@ struct MjModel {
emscripten::val flex_vert0() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert * 3, ptr_->flex_vert0));
}
emscripten::val flex_vertmetric() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert * 4, ptr_->flex_vertmetric));
}
emscripten::val flex_node() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexnode * 3, ptr_->flex_node));
}
@@ -11389,6 +11401,10 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("flex_vert0", &MjModel::flex_vert0)
.property("flex_vertadr", &MjModel::flex_vertadr)
.property("flex_vertbodyid", &MjModel::flex_vertbodyid)
.property("flex_vertedge", &MjModel::flex_vertedge)
.property("flex_vertedgeadr", &MjModel::flex_vertedgeadr)
.property("flex_vertedgenum", &MjModel::flex_vertedgenum)
.property("flex_vertmetric", &MjModel::flex_vertmetric)
.property("flex_vertnum", &MjModel::flex_vertnum)
.property("flexedge_J_colind", &MjModel::flexedge_J_colind)
.property("flexedge_J_rowadr", &MjModel::flexedge_J_rowadr)