Remove distance constraints.

- `distance` constraints were not very useful and increased the contact buffer within the constraint solver, violating a core design principle. Therefore they have been removed. - The enum value `mjEQ_DISTANCE` is retained, but errors will be thrown in the parser and engine if these constraints are selected. PiperOrigin-RevId: 467050101 Change-Id: Ie72a07e4fe338eea5107004a9fc0f5e47eb0c3b7
2022-08-11 14:30:33 -07:00
parent 396fdf00c3
commit c8ff7b3d34
14 changed files with 18 additions and 263 deletions
@@ -163,7 +163,7 @@ typedef enum mjtEq_ {             // type of equality constraint
  mjEQ_WELD,                      // fix relative position and orientation of two bodies
  mjEQ_JOINT,                     // couple the values of two scalar joints with cubic
  mjEQ_TENDON,                    // couple the lengths of two tendons with cubic
-  mjEQ_DISTANCE                   // fix the contact distance betweent two geoms
+  mjEQ_DISTANCE                   // unsupported, will cause an error if used
 } mjtEq;