Remove mjOption.collision and associated option/collision attribute.

PiperOrigin-RevId: 566427090 Change-Id: I6e5873b8db707586820b17b53c7ab4bbff0f0b2b
2023-09-18 15:14:33 -07:00
parent 9902b73502
commit 9cf1f6eba4
18 changed files with 108 additions and 208 deletions
@@ -140,13 +140,6 @@ typedef enum mjtIntegrator_ {     // integrator mode
 } mjtIntegrator;


-typedef enum mjtCollision_ {      // collision mode for selecting geom pairs
-  mjCOL_ALL           = 0,        // test precomputed and dynamic pairs
-  mjCOL_PAIR,                     // test predefined pairs only
-  mjCOL_DYNAMIC                   // test dynamic pairs only
-} mjtCollision;
-
-
 typedef enum mjtCone_ {           // type of friction cone
  mjCONE_PYRAMIDAL     = 0,       // pyramidal
  mjCONE_ELLIPTIC                 // elliptic
@@ -417,7 +410,6 @@ struct mjOption_ {                // physics options

  // discrete settings
  int integrator;                 // integration mode (mjtIntegrator)
-  int collision;                  // collision mode (mjtCollision)
  int cone;                       // type of friction cone (mjtCone)
  int jacobian;                   // type of Jacobian (mjtJacobian)
  int solver;                     // solver algorithm (mjtSolver)
@@ -34,7 +34,6 @@

 #define MJOPTION_INTS               \
    X( int,     integrator        ) \
-    X( int,     collision         ) \
    X( int,     cone              ) \
    X( int,     jacobian          ) \
    X( int,     solver            ) \