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Mujoco_WASM/unity/Runtime
Alessio Quaglino 5724158593 Refactor flex stiffness storage to support variable sizes.
This change introduces `nflexstiffness` and `flex_stiffnessadr` to allow flex stiffness matrices to have sizes other than the fixed 21 per element. Higher-order flexes can now store larger stiffness matrices based on their number of nodes. The `flex_stiffnessadr` array provides the starting index for each flex's stiffness data within the `flex_stiffness` array.

PiperOrigin-RevId: 899632263
Change-Id: Ie49182c46c3777acf0c6b492345edfcf62fb5e44
2026-04-14 09:39:00 -07:00
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2025-02-08 22:14:03 +01:00