Do not add bodies at mesh points for quadratic flex interpolation.

quagla · copybara-github · commit 1bfa8b6fa6f7 · 2025-10-28T06:13:27.000-07:00
PiperOrigin-RevId: 825001743
Change-Id: Ica085b947fb1c3f56251bceaa6a228f364535d3e
diff --git a/src/user/user_flexcomp.cc b/src/user/user_flexcomp.cc
@@ -441,8 +441,8 @@ bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz) {
       continue;
     }
 
-    // pinned or trilinear: parent body
-    if (pinned[i] || doftype == mjFCOMPDOF_TRILINEAR) {
+    // pinned or trilinear or quadratic: parent body
+    if (pinned[i] || doftype == mjFCOMPDOF_TRILINEAR || doftype == mjFCOMPDOF_QUADRATIC) {
       mjs_appendString(pf->vertbody, mjs_getName(body->element)->c_str());
 
       // add plugin

Original file line number	Diff line number	Diff line change
`@@ -441,8 +441,8 @@ bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz) {`
`441`	`441`	`continue;`
`442`	`442`	`}`
`443`	`443`
`444`		`- // pinned or trilinear: parent body`
`445`		`- if (pinned[i] \|\| doftype == mjFCOMPDOF_TRILINEAR) {`
	`444`	`+ // pinned or trilinear or quadratic: parent body`
	`445`	`+ if (pinned[i] \|\| doftype == mjFCOMPDOF_TRILINEAR \|\| doftype == mjFCOMPDOF_QUADRATIC) {`
`446`	`446`	`mjs_appendString(pf->vertbody, mjs_getName(body->element)->c_str());`
`447`	`447`
`448`	`448`	`// add plugin`