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Remove unused code related to legacy island implementation.

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Also fix a docstring.

PiperOrigin-RevId: 757939564
Change-Id: I3a970fd38c63886d34cd23b1fb45617a9ce5c147
This commit is contained in:
Yuval Tassa
2025-05-12 15:38:15 -07:00
committed by Copybara-Service
parent 8a7c42c747
commit 755564a348
14 changed files with 67 additions and 138 deletions
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src/engine/engine_core_constraint.c
+2 -2
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@@ -2286,7 +2286,7 @@ void mj_referenceConstraint(const mjModel* m, mjData* d) {
//---------------------------- update constraint state ---------------------------------------------
// compute efc_state, efc_force
// optional: cost(qacc) = shat(jar); cone Hessians
// optional: cost(qacc) = s_hat(jar); cone Hessians
void mj_constraintUpdate_impl(int ne, int nf, int nefc,
const mjtNum* D, const mjtNum* R, const mjtNum* floss,
const mjtNum* jar, const int* type, const int* id,
@@ -2485,7 +2485,7 @@ void mj_constraintUpdate_impl(int ne, int nf, int nefc,
// compute efc_state, efc_force, qfrc_constraint
// optional: cost(qacc) = shat(jar) where jar = Jac*qacc-aref; cone Hessians
// optional: cost(qacc) = s_hat(jar) where jar = Jac*qacc-aref; cone Hessians
void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
mjtNum cost[1], int flg_coneHessian) {
mj_constraintUpdate_impl(d->ne, d->nf, d->nefc, d->efc_D, d->efc_R, d->efc_frictionloss,