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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/xml/xml_native_writer.cc
+7
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@@ -180,6 +180,13 @@ void mjXWriter::OneFlex(XMLElement* elem, const mjCFlex* flex) {
elem->DeleteChild(cont);
}
// elasticity subelement
XMLElement* elastic = InsertEnd(elem, "elasticity");
WriteAttr(elastic, "young", 1, &flex->young, &defflex.young);
WriteAttr(elastic, "poisson", 1, &flex->poisson, &defflex.poisson);
WriteAttr(elastic, "thickness", 1, &flex->thickness, &defflex.thickness);
WriteAttr(elastic, "damping", 1, &flex->damping, &defflex.damping);
// edge subelement
XMLElement* edge = InsertEnd(elem, "edge");
WriteAttr(edge, "stiffness", 1, &flex->edgestiffness, &defflex.edgestiffness);