Remove mj_activate and mj_deactivate.

PiperOrigin-RevId: 538799120
Change-Id: I4d6729131e20ab9ae15c94c221ba83ae5732e942

doc/APIreference/APIfunctions.rst

@@ -23,7 +23,6 @@ API function can be classified as:
 - :ref:`OpenGL rendering<OpenGLrendering>`.
 - :ref:`UI framework<UIframework>`.
 - :ref:`Error and memory<Errorandmemory>`.
-- Deprecated :ref:`activation<Activation>` mechanism.
 - :ref:`Aliases for C standard math<Standardmath>` functions.
 - :ref:`Vector math<Vectormath>`.
 - :ref:`Quaternions<Quaternions>`.

doc/APIreference/functions.rst

@@ -2020,31 +2020,6 @@ mju_writeLog
 
 Write [datetime, type: message] to MUJOCO_LOG.TXT.
 
-.. _Activation:
-
-Activation
-^^^^^^^^^^
-
-The functions in this section are maintained for backward compatibility with the now-removed activation mechanism.
-
-.. _mj_activate:
-
-mj_activate
-~~~~~~~~~~~
-
-.. mujoco-include:: mj_activate
-
-Return 1 (for backward compatibility).
-
-.. _mj_deactivate:
-
-mj_deactivate
-~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_deactivate
-
-Do nothing (for backward compatibility).
-
 .. _Standardmath:
 
 Standard math

doc/changelog.rst

@@ -102,6 +102,8 @@ General
   from the ``mjData`` stack and arena.
 - Removed ``pstack`` and ``parena`` from the output of ``mj_printData``, since these are implementation details of the
   ``mjData`` allocators that are affected by diagnostic paddings in instrumented builds.
+- Removed the ``mj_activate`` and ``mj_deactivate`` functions. These had been kept around for compatibility with old
+  user code from when MuJoCo was closed source, but have been no-op functions since open sourcing.
 
 
 Version 2.3.5 (April 25, 2023)

doc/includes/references.h

@@ -2343,8 +2343,6 @@ void* mju_malloc(size_t size);
 void mju_free(void* ptr);
 void mj_warning(mjData* d, int warning, int info);
 void mju_writeLog(const char* type, const char* msg);
-int mj_activate(const char* filename);
-void mj_deactivate(void);
 void mju_zero3(mjtNum res[3]);
 void mju_copy3(mjtNum res[3], const mjtNum data[3]);
 void mju_scl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);

include/mujoco/mujoco.h

@@ -800,15 +800,6 @@ MJAPI void mj_warning(mjData* d, int warning, int info);
 MJAPI void mju_writeLog(const char* type, const char* msg);
 
 
-//---------------------------------- Activation ----------------------------------------------------
-
-// Return 1 (for backward compatibility).
-MJAPI int mj_activate(const char* filename);
-
-// Do nothing (for backward compatibility).
-MJAPI void mj_deactivate(void);
-
-
 //---------------------------------- Standard math -------------------------------------------------
 
 #ifdef mjUSEDOUBLE

introspect/functions.py

@@ -5142,27 +5142,6 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Write [datetime, type: message] to MUJOCO_LOG.TXT.',
      )),
-    ('mj_activate',
-     FunctionDecl(
-         name='mj_activate',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Return 1 (for backward compatibility).',
-     )),
-    ('mj_deactivate',
-     FunctionDecl(
-         name='mj_deactivate',
-         return_type=ValueType(name='void'),
-         parameters=(),
-         doc='Do nothing (for backward compatibility).',
-     )),
     ('mju_zero3',
      FunctionDecl(
          name='mju_zero3',

python/mujoco/functions.cc

@@ -42,10 +42,6 @@ PYBIND11_MODULE(_functions, pymodule) {
   // for MjWrapper types and therefore generates prettier docstrings.
   py::module::import("mujoco._structs");
 
-  // Activation
-  Def<traits::mj_activate>(pymodule);
-  Def<traits::mj_deactivate>(pymodule);
-
   // Virtual file system
   // Skipped entire section
 

src/xml/xml_api.cc

@@ -62,26 +62,14 @@ void GlobalModel::Clear() {
 }
 
 
-
 // single instance of global model, protected with mutex
 static GlobalModel themodel;
 static std::mutex themutex;
 
+
+
 //---------------------------------- Functions -----------------------------------------------------
 
-// Return 1 (for backward compatibility).
-int mj_activate(const char* filename) {
-  return 1;
-}
-
-
-
-// Do nothing (for backward compatibility).
-void mj_deactivate(void) {
-}
-
-
-
 // mj_loadXML helper function
 mjModel* _loadXML(const char* filename, int vfs_provider,
                   char* error, int error_sz) {

src/xml/xml_api.h

@@ -23,11 +23,6 @@ extern "C" {
 #endif
 
 
-// activate license, call mju_error on failure; return 1 if ok, 0 if failure
-MJAPI int mj_activate(const char* filename);
-
-// deactivate license, free memory
-MJAPI void mj_deactivate(void);
 
 // parse XML file in MJCF or URDF format, compile it, return low-level model
 //  if vfs is not NULL, look up files in vfs before reading from disk

unity/Runtime/Bindings/MjBindings.cs

@@ -3544,12 +3544,6 @@ public static unsafe extern void mj_warning(mjData_* d, int warning, int info);
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mju_writeLog([MarshalAs(UnmanagedType.LPStr)]string type, [MarshalAs(UnmanagedType.LPStr)]string msg);
 
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mj_activate([MarshalAs(UnmanagedType.LPStr)]string filename);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_deactivate();
-
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mju_zero3(double* res);