Add membrane plugin (2D Flex elastic stiffness).

PiperOrigin-RevId: 574109411 Change-Id: I4a701d8189cecf540cd200bd30cb4582f3c7dd43
2023-10-17 04:54:37 -07:00
parent 110ade1435
commit d67b8c6251
13 changed files with 586 additions and 115 deletions
@@ -21,17 +21,11 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjtnum.h>
+#include "elasticity.h"


 namespace mujoco::plugin::elasticity {

-struct Stencil2D {
-  static constexpr int kNumEdges = 3;
-  static constexpr int kNumVerts = 3;
-  int vertices[kNumVerts];
-  int edges[kNumEdges];
-};
-
 struct StencilFlap {
  static constexpr int kNumVerts = 4;
  int vertices[kNumVerts];