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

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PiperOrigin-RevId: 896483023
Change-Id: I6dde2c20d8e8e229cf95e1f002dd10525d3376e6
This commit is contained in:
Yuval Tassa
2026-04-08 07:15:59 -07:00
committed by Copybara-Service
parent 5a2cc6cee3
commit 0e04436d51
17 changed files with 47 additions and 53 deletions
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unity/Runtime/Bindings/MjBindings.cs
+5 -7
View File
@@ -489,12 +489,11 @@ public enum mjtWarning : int{
mjWARN_INERTIA = 0,
mjWARN_CONTACTFULL = 1,
mjWARN_CNSTRFULL = 2,
mjWARN_VGEOMFULL = 3,
mjWARN_BADQPOS = 4,
mjWARN_BADQVEL = 5,
mjWARN_BADQACC = 6,
mjWARN_BADCTRL = 7,
mjNWARNING = 8,
mjWARN_BADQPOS = 3,
mjWARN_BADQVEL = 4,
mjWARN_BADQACC = 5,
mjWARN_BADCTRL = 6,
mjNWARNING = 7,
}
public enum mjtTimer : int{
mjTIMER_STEP = 0,
@@ -5699,7 +5698,6 @@ public unsafe struct mjData_ {
public mjWarningStat_ warning4;
public mjWarningStat_ warning5;
public mjWarningStat_ warning6;
public mjWarningStat_ warning7;
public mjTimerStat_ timer0;
public mjTimerStat_ timer1;
public mjTimerStat_ timer2;
unity/Runtime/Components/MjScene.cs
+3 -7
View File
@@ -359,22 +359,18 @@ public class MjScene : MonoBehaviour {
}
if (Data->warning3.number > 0) {
Data->warning3.number = 0;
throw new PhysicsRuntimeException("VGEOMFULL: who constructed a mjvScene?!");
throw new PhysicsRuntimeException("BADQPOS: NaN/inf in qpos.");
}
if (Data->warning4.number > 0) {
Data->warning4.number = 0;
throw new PhysicsRuntimeException("BADQPOS: NaN/inf in qpos.");
throw new PhysicsRuntimeException("BADQVEL: NaN/inf in qvel.");
}
if (Data->warning5.number > 0) {
Data->warning5.number = 0;
throw new PhysicsRuntimeException("BADQVEL: NaN/inf in qvel.");
throw new PhysicsRuntimeException("BADQACC: NaN/inf in qacc.");
}
if (Data->warning6.number > 0) {
Data->warning6.number = 0;
throw new PhysicsRuntimeException("BADQACC: NaN/inf in qacc.");
}
if (Data->warning7.number > 0) {
Data->warning7.number = 0;
throw new PhysicsRuntimeException("BADCTRL: NaN/inf in ctrl.");
}
}