Remove `mjWARN_VGEOMFULL, handle visual geom buffer full warnings in mjvScene`.

PiperOrigin-RevId: 896483023
Change-Id: I6dde2c20d8e8e229cf95e1f002dd10525d3376e6

src/engine/engine_vis_visualize.c

@@ -169,7 +169,11 @@ static int bodycategory(const mjModel* m, int bodyid) {
 mjvGeom* acquireGeom(mjvScene* scn, int objid, int category, int objtype) {
   // check for overflow, SHOULD NOT OCCUR
   if (scn->ngeom >= scn->maxgeom) {
-    scn->status = 1;
+    if (!scn->status) {
+      mju_warning("Pre-allocated visual geom buffer is full. "
+                  "Increase maxgeom above %d.", scn->maxgeom);
+      scn->status = 1;
+    }
     return NULL;
   }
 
@@ -3379,7 +3383,6 @@ void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
                      const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn) {
   // clear geoms
   scn->ngeom = 0;
-  scn->status = 0;
 
   // trigger plugin visualization hooks
   if (m->nplugin) {
@@ -3416,10 +3419,6 @@ void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
   if (opt->flags[mjVIS_SKIN]) {
     mjv_updateActiveSkin(m, d, scn, opt);
   }
-
-  if (scn->status) {
-    mj_warning(d, mjWARN_VGEOMFULL, scn->maxgeom);
-  }
 }