Remove mjtVisFlag.mjVIS_FLEXBVH and mjvOption.oct_depth

PiperOrigin-RevId: 783355711
Change-Id: I1e11999d5c533925f1d07266aeca95598a5691ba

doc/changelog.rst

@@ -14,11 +14,16 @@ General
   as input to learning-based agents and in environment logic.
 - Removed the SdfLib plugin and the dependency on `SdfLib <https://github.com/UPC-ViRVIG/SdfLib>`__. SDFs are now
   supported natively in mjModel.
+- Removed ``oct_depth`` from :ref:`mjvOption` (unused).
 - Inertia computation in MuJoCo C is now performed by a new :ref:`pipeline<piStages>` function :ref:`mj_makeM`, which
   combines the Composite Rigid Body algorithm in :ref:`mj_crb` and additional terms related to
   :ref:`tendon armature<tendon-spatial-armature>`. Code that uses :ref:`mj_crb` to compute the inertia should now use
   :ref:`mj_makeM` instead.
 
+.. admonition:: Breaking API changes
+   :class: attention
+
+   - Removed the ``mjVIS_FLEXBVH`` enum value, its functionality is now provided by :ref:`mjVIS_MESHBVH<mjtVisFlag>`.
 
 Bug fixes
 ^^^^^^^^^

doc/includes/references.h

@@ -2745,7 +2745,6 @@ typedef enum mjtVisFlag_ {        // flags enabling model element visualization
   mjVIS_FLEXFACE,                 // flex element faces
   mjVIS_FLEXSKIN,                 // flex smooth skin (disables the rest)
   mjVIS_BODYBVH,                  // body bounding volume hierarchy
-  mjVIS_FLEXBVH,                  // flex bounding volume hierarchy
   mjVIS_MESHBVH,                  // mesh bounding volume hierarchy
   mjVIS_SDFITER,                  // iterations of SDF gradient descent
 
@@ -2879,7 +2878,6 @@ struct mjvOption_ {                  // abstract visualization options
   mjtByte  skingroup[mjNGROUP];      // skin visualization by group
   mjtByte  flags[mjNVISFLAG];        // visualization flags (indexed by mjtVisFlag)
   int      bvh_depth;                // depth of the bounding volume hierarchy to be visualized
-  int      oct_depth;                // depth of the octree to be visualized
   int      flex_layer;               // element layer to be visualized for 3D flex
 };
 typedef struct mjvOption_ mjvOption;