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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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test/engine/engine_collision_driver_test.cc
-16
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@@ -49,22 +49,6 @@ static std::vector<GeomPair> colliding_pairs(
return result;
}
TEST_F(MjCollisionTest, PredefinedPairsOnly) {
static const char* const kModelFilePath =
"engine/testdata/collisions.xml";
const std::string xml_path = GetTestDataFilePath(kModelFilePath);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
model->opt.collision = mjCOL_PAIR;
mjData* data = mj_makeData(model);
mj_fwdPosition(model, data);
EXPECT_THAT(colliding_pairs(model, data), ElementsAre(
GeomPair("box", "sphere_predefined")));
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(MjCollisionTest, AllCollisions) {
static const char* const kModelFilePath =
"engine/testdata/collisions.xml";