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Move elasticity computation to mjCFlex.

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PiperOrigin-RevId: 675949380
Change-Id: Ia48f4fd6ae1ede206ccacd1205914e7e4b3c7aec
This commit is contained in:
Alessio Quaglino
2024-09-18 05:22:05 -07:00
committed by Copybara-Service
parent 0657e3e871
commit ddbc083810
7 changed files with 250 additions and 212 deletions
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src/user/user_model.cc
+6 -3
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@@ -2518,8 +2518,11 @@ void mjCModel::CopyObjects(mjModel* m) {
mjuu_copyvec(m->flex_rgba + 4 * i, pfl->rgba, 4);
// elasticity
// TODO: these are now written by plugins, they will be moved to mjCFlex
mjuu_zerovec(m->flex_stiffness + 21 * elem_adr, 21 * pfl->nelem);
if (!pfl->stiffness.empty()) {
mjuu_copyvec(m->flex_stiffness + 21 * elem_adr, pfl->stiffness.data(), pfl->stiffness.size());
} else {
mjuu_zerovec(m->flex_stiffness + 21 * elem_adr, 21 * pfl->nelem);
}
// set fields: mesh-like
m->flex_dim[i] = pfl->dim;
@@ -2588,7 +2591,7 @@ void mjCModel::CopyObjects(mjModel* m) {
mjuu_zerovec(m->flex_vert + 3*vert_adr, 3*pfl->nvert);
}
else {
memcpy(m->flex_vert + 3*vert_adr, pfl->vert_.data(), 3*pfl->nvert*sizeof(mjtNum));
mjuu_copyvec(m->flex_vert + 3*vert_adr, pfl->vert_.data(), 3*pfl->nvert);
}
// copy or set vertbodyid