Move elasticity computation to mjCFlex.

PiperOrigin-RevId: 675949380 Change-Id: Ia48f4fd6ae1ede206ccacd1205914e7e4b3c7aec
2024-09-18 05:22:05 -07:00
parent 0657e3e871
commit ddbc083810
7 changed files with 250 additions and 212 deletions
@@ -695,6 +695,7 @@ class mjCFlex_ : public mjCBase {
  mjCBoundingVolumeHierarchy tree;        // bounding volume hierarchy
  std::vector<double> elemaabb_;          // element bounding volume
  std::vector<int> edgeidx_;              // element edge ids
+  std::vector<double> stiffness;          // elasticity stiffness matrix

  // variable-size data
  std::vector<std::string> vertbody_;     // vertex body names