From 9952f1708cacd0a1bdc3bd171e746962b7e5e4db Mon Sep 17 00:00:00 2001
From: Tom Erez <etom@google.com>
Date: Thu, 16 Nov 2023 03:23:06 -0800
Subject: [PATCH] Remove collision option from Unity plug-in GUI.

PiperOrigin-RevId: 582978831
Change-Id: I97275438c730655a9c942526fa410bf006189968
---
 unity/Runtime/Components/MjGlobalSettings.cs           | 9 ---------
 unity/Tests/Editor/Components/MjGlobalSettingsTests.cs | 2 --
 2 files changed, 11 deletions(-)

diff --git a/unity/Runtime/Components/MjGlobalSettings.cs b/unity/Runtime/Components/MjGlobalSettings.cs
index 6052297c..de55a6a9 100644
--- a/unity/Runtime/Components/MjGlobalSettings.cs
+++ b/unity/Runtime/Components/MjGlobalSettings.cs
@@ -34,10 +34,6 @@ public enum IntegratorType {
   @implicitfast
 }
 
-public enum CollisionCheckType {
-  all
-}
-
 public enum FrictionConeType {
   pyramidal,
   elliptic
@@ -183,8 +179,6 @@ public struct MjOptionStruct {
   public SolverImpedance OverrideSolImp;
   [Tooltip("Numerical integrator.")]
   public IntegratorType Integrator;
-  [Tooltip("What collision types should be checked.")]
-  public CollisionCheckType Collision;
   [Tooltip("How to model the friction cone.")]
   public FrictionConeType Cone;
   [Tooltip("How to represent the constraint Jacobian.")]
@@ -217,7 +211,6 @@ public struct MjOptionStruct {
     OverrideSolRef = SolverReference.Default,
     OverrideSolImp = SolverImpedance.Default,
     Integrator = IntegratorType.Euler,
-    Collision = CollisionCheckType.all,
     Cone = FrictionConeType.pyramidal,
     Jacobian = JacobianType.auto,
     Solver = ConstraintSolverType.Newton,
@@ -260,7 +253,6 @@ public struct MjOptionStruct {
     OverrideSolImp.FromMjcf(mjcf, "o_solimp");
 
     Integrator = mjcf.GetEnumAttribute<IntegratorType>("integrator", localDefault.Integrator);
-    Collision = mjcf.GetEnumAttribute<CollisionCheckType>("collision", localDefault.Collision);
     Cone = mjcf.GetEnumAttribute<FrictionConeType>("cone", localDefault.Cone);
     Jacobian = mjcf.GetEnumAttribute<JacobianType>("jacobian", localDefault.Jacobian);
     Solver = mjcf.GetEnumAttribute<ConstraintSolverType>("solver", localDefault.Solver);
@@ -295,7 +287,6 @@ public struct MjOptionStruct {
     OverrideSolImp.ToMjcf(mjcf, "o_solimp");
 
     mjcf.SetAttribute("integrator", Integrator.ToString());
-    mjcf.SetAttribute("collision", Collision.ToString());
     mjcf.SetAttribute("cone", Cone.ToString());
     mjcf.SetAttribute("jacobian", Jacobian.ToString());
     mjcf.SetAttribute("solver", Solver.ToString());
diff --git a/unity/Tests/Editor/Components/MjGlobalSettingsTests.cs b/unity/Tests/Editor/Components/MjGlobalSettingsTests.cs
index f3a6a218..6575bbf1 100644
--- a/unity/Tests/Editor/Components/MjGlobalSettingsTests.cs
+++ b/unity/Tests/Editor/Components/MjGlobalSettingsTests.cs
@@ -69,7 +69,6 @@ public class MjGlobalSettingsGenerationTests {
     Assert.That(_doc.OuterXml, Does.Contain(@"o_margin=""4.5"""));
     Assert.That(_doc.OuterXml, Does.Contain(@"integrator=""RK4"""));
     Assert.That(_doc.OuterXml, Does.Contain(@"cone=""elliptic"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"collision=""all"""));  // the default value.
     Assert.That(_doc.OuterXml, Does.Contain(@"jacobian=""dense"""));
     Assert.That(_doc.OuterXml, Does.Contain(@"o_solref="));
     Assert.That(_doc.OuterXml, Does.Contain(@"o_solimp="));
@@ -143,7 +142,6 @@ public class MjGlobalSettingsParsingTests {
     _option.SetAttribute("o_margin", "4.5");
     _option.SetAttribute("integrator", "RK4");
     _option.SetAttribute("cone", "elliptic");
-    _option.SetAttribute("collisionchecktype", "all");
     _option.SetAttribute("jacobian", "dense");
     _option.SetAttribute("solver", "PGS");
     _option.SetAttribute("iterations", "12");