Allow flex sleeping

PiperOrigin-RevId: 917817500 Change-Id: Ia3bd5e52e7c2eaa3f70c81352d82c130b1d357f6
2026-05-19 07:14:45 -07:00
parent ddc4c54d16
commit f712eed4ce
21 changed files with 660 additions and 57 deletions
@@ -53,6 +53,9 @@ int mj_wakeEquality(const mjModel* m, mjData* d);
 // put trees to sleep according to tolerance, return number of slept trees
 int mj_sleep(const mjModel* m, mjData* d);

+// get a representative body from a flex contact side
+int mj_flexBody(const mjModel* m, const mjContact* con, int side);
+
 // return sleep state of object i
 MJAPI mjtSleepState mj_sleepState(const mjModel* m, const mjData* d, mjtObj type, int i);