Implementation:Google deepmind Mujoco User Flexcomp Header

Knowledge Sources	Google_deepmind_Mujoco
Domains	Physics Simulation, Deformable Bodies
Last Updated	2026-02-15 04:00 GMT

Overview

Declares the mjCFlexcomp class and associated enums for flexible composite object types and degrees of freedom.

Description

user_flexcomp.h defines the mjtFcompType enum (grid, box, cylinder, ellipsoid, square, disc, circle, mesh, GMSH, direct) and mjtDof enum (full, radial, trilinear, quadratic) that control flexcomp generation. The mjCFlexcomp class declares methods for making different flexcomp geometries (MakeGrid, MakeBox, MakeSquare, MakeMesh, MakeGMSH), loading GMSH files in v2.2 and v4.1 formats, and grid/box ID computation helpers. Public properties include name, type, count, spacing, and scale arrays.

Usage

Included by the native MJCF reader and the flexcomp implementation to define the interface for flexible deformable object construction.

Code Reference

Source Location

• Repository: Google_deepmind_Mujoco
• File: src/user/user_flexcomp.h
• Lines: 1-118

Key Functions

typedef enum _mjtFcompType {
  mjFCOMPTYPE_GRID, mjFCOMPTYPE_BOX, mjFCOMPTYPE_CYLINDER,
  mjFCOMPTYPE_ELLIPSOID, mjFCOMPTYPE_SQUARE, mjFCOMPTYPE_DISC,
  mjFCOMPTYPE_CIRCLE, mjFCOMPTYPE_MESH, mjFCOMPTYPE_GMSH,
  mjFCOMPTYPE_DIRECT
} mjtFcompType;

class mjCFlexcomp {
 public:
  mjCFlexcomp(void);
  bool Make(mjsBody* body, char* error, int error_sz);
  bool MakeGrid(char* error, int error_sz);
  bool MakeMesh(mjCModel* model, mjsCompiler* compiler, char* error, int error_sz);
  bool MakeGMSH(mjCModel* model, mjsCompiler* compiler, char* error, int error_sz);
};

Import

#include "user/user_flexcomp.h"

I/O Contract

Inputs

Name	Type	Required	Description
N/A	N/A	N/A	Header declaring the mjCFlexcomp class and associated enums

Outputs

Name	Type	Description
mjCFlexcomp	class	Flexcomp object builder with type, count, spacing, and scale properties

Related Pages

• Environment:Google_deepmind_Mujoco_C_Build_Environment