Add vertcollide option for adding spheres at flex vertices.

PiperOrigin-RevId: 757789990 Change-Id: I8ccba52b13e8c02a7be78f992297d6f414d98f8e
2025-05-12 09:12:44 -07:00
parent 09bf5409ab
commit d77126dc58
8 changed files with 1480 additions and 11 deletions
@@ -430,7 +430,8 @@ typedef struct mjsFlex_ {          // flex specification
  double radius;                   // radius around primitive element
  mjtByte internal;                // enable internal collisions
  mjtByte flatskin;                // render flex skin with flat shading
-  int selfcollide;                 // mode for flex self colllision
+  int selfcollide;                 // mode for flex self collision
+  int vertcollide;                 // mode for vertex collision
  int activelayers;                // number of active element layers in 3D
  int group;                       // group for visualizatioh
  double edgestiffness;            // edge stiffness