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Remove mjOption.collision and associated option/collision attribute.

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PiperOrigin-RevId: 566427090
Change-Id: I6e5873b8db707586820b17b53c7ab4bbff0f0b2b
This commit is contained in:
Yuval Tassa
2023-09-18 15:14:33 -07:00
committed by Copybara-Service
parent 9902b73502
commit 9cf1f6eba4
18 changed files with 108 additions and 208 deletions
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src/xml/xml_native_reader.cc
+2 -13
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@@ -95,11 +95,11 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
"inttotal", "interval", "tolrange"},
{">"},
{"option", "*", "26",
{"option", "*", "25",
"timestep", "apirate", "impratio", "tolerance", "ls_tolerance", "noslip_tolerance",
"mpr_tolerance", "gravity", "wind", "magnetic", "density", "viscosity",
"o_margin", "o_solref", "o_solimp",
"integrator", "collision", "cone", "jacobian",
"integrator", "cone", "jacobian",
"solver", "iterations", "ls_iterations", "noslip_iterations", "mpr_iterations",
"sdf_iterations", "sdf_initpoints"},
{"<"},
@@ -536,16 +536,6 @@ const mjMap integrator_map[integrator_sz] = {
{"implicitfast", mjINT_IMPLICITFAST}
};
// collision type
const int collision_sz = 3;
const mjMap collision_map[collision_sz] = {
{"all", mjCOL_ALL},
{"predefined", mjCOL_PAIR},
{"dynamic", mjCOL_DYNAMIC}
};
// cone type
const int cone_sz = 2;
const mjMap cone_map[cone_sz] = {
@@ -973,7 +963,6 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
ReadAttr(section, "o_solimp", mjNIMP, opt->o_solimp, text, false, false);
MapValue(section, "integrator", &opt->integrator, integrator_map, integrator_sz);
MapValue(section, "collision", &opt->collision, collision_map, collision_sz);
MapValue(section, "cone", &opt->cone, cone_map, cone_sz);
MapValue(section, "jacobian", &opt->jacobian, jac_map, jac_sz);
MapValue(section, "solver", &opt->solver, solver_map, solver_sz);