Remove the convexhull compiler option.

PiperOrigin-RevId: 690307675
Change-Id: I62d8213579ad07296ca96de004d39ae012174aa4

src/user/user_init.c

@@ -39,7 +39,6 @@ void mjs_defaultSpec(mjSpec* spec) {
   spec->compiler.eulerseq[0] = 'x';
   spec->compiler.eulerseq[1] = 'y';
   spec->compiler.eulerseq[2] = 'z';
-  spec->compiler.convexhull = 1;
   spec->compiler.usethread = 1;
   spec->compiler.inertiafromgeom = mjINERTIAFROMGEOM_AUTO;
   spec->compiler.inertiagrouprange[1] = mjNGROUP-1;

src/user/user_mesh.cc

@@ -563,7 +563,7 @@ void mjCMesh::Compile(const mjVFS* vfs) {
   }
 
   // make graph describing convex hull
-  if ((model->compiler.convexhull && needhull_) || face_.empty()) {
+  if (needhull_ || face_.empty()) {
     MakeGraph();
   }
 

src/xml/xml_base.h

@@ -42,7 +42,6 @@ extern const int gain_sz;
 extern const int bias_sz;
 extern const int stage_sz;
 extern const int datatype_sz;
-extern const mjMap coordinate_map[];
 extern const mjMap angle_map[];
 extern const mjMap enable_map[];
 extern const mjMap bool_map[];

src/xml/xml_native_reader.cc

@@ -97,9 +97,9 @@ static void UpdateString(string& psuffix, int count, int i) {
 const char* MJCF[nMJCF][mjXATTRNUM] = {
 {"mujoco", "!", "1", "model"},
 {"<"},
-    {"compiler", "*", "20", "autolimits", "boundmass", "boundinertia", "settotalmass",
+    {"compiler", "*", "19", "autolimits", "boundmass", "boundinertia", "settotalmass",
         "balanceinertia", "strippath", "coordinate", "angle", "fitaabb", "eulerseq",
-        "meshdir", "texturedir", "discardvisual", "convexhull", "usethread",
+        "meshdir", "texturedir", "discardvisual", "usethread",
         "fusestatic", "inertiafromgeom", "inertiagrouprange", "assetdir", "alignfree"},
     {"<"},
         {"lengthrange", "?", "10", "mode", "useexisting", "uselimit",
@@ -1008,9 +1008,6 @@ void mjXReader::Compiler(XMLElement* section, mjSpec* spec) {
   if (MapValue(section, "discardvisual", &n, bool_map, 2)) {
     spec->compiler.discardvisual = (n==1);
   }
-  if (MapValue(section, "convexhull", &n, bool_map, 2)) {
-    spec->compiler.convexhull = (n==1);
-  }
   if (MapValue(section, "usethread", &n, bool_map, 2)) {
     spec->compiler.usethread = (n==1);
   }

src/xml/xml_native_writer.cc

@@ -920,9 +920,6 @@ void mjXWriter::Compiler(XMLElement* root) {
   XMLElement* section = InsertEnd(root, "compiler");
 
   // settings
-  if (!model->compiler.convexhull) {
-    WriteAttrTxt(section, "convexhull", FindValue(bool_map, 2, model->compiler.convexhull));
-  }
   WriteAttrTxt(section, "angle", "radian");
   if (!model->get_meshdir().empty()) {
     WriteAttrTxt(section, "meshdir", model->get_meshdir());