From d616f11508990d363bccafa0f03779f99f4096ab Mon Sep 17 00:00:00 2001 From: Taylor Howell Date: Mon, 22 Sep 2025 06:27:56 -0700 Subject: [PATCH] Remove references to deprecated `nconmax` and `njmax`. PiperOrigin-RevId: 809987304 Change-Id: I4109497fe108234dd77011d61eb3ef833e6ae111 --- src/engine/engine_collision_driver.c | 3 +-- src/engine/engine_core_constraint.c | 6 ------ src/engine/engine_util_misc.c | 3 +-- test/engine/testdata/collision_driver/midphase.xml | 1 - 4 files changed, 2 insertions(+), 11 deletions(-) diff --git a/src/engine/engine_collision_driver.c b/src/engine/engine_collision_driver.c index c6f202ea..bb5976eb 100644 --- a/src/engine/engine_collision_driver.c +++ b/src/engine/engine_collision_driver.c @@ -279,8 +279,7 @@ void mj_collision(const mjModel* m, mjData* d) { } // return if disabled - if (mjDISABLED(mjDSBL_CONSTRAINT) || mjDISABLED(mjDSBL_CONTACT) - || m->nconmax == 0 || nbodyflex < 2) { + if (mjDISABLED(mjDSBL_CONSTRAINT) || mjDISABLED(mjDSBL_CONTACT) || nbodyflex < 2) { return; } diff --git a/src/engine/engine_core_constraint.c b/src/engine/engine_core_constraint.c index 40f37813..32683bfb 100644 --- a/src/engine/engine_core_constraint.c +++ b/src/engine/engine_core_constraint.c @@ -210,12 +210,6 @@ static int mj_vertBodyWeight(const mjModel* m, const mjData* d, int f, int v, // add contact to d->contact list; return 0 if success; 1 if buffer full int mj_addContact(const mjModel* m, mjData* d, const mjContact* con) { - // if nconmax is specified and ncon >= nconmax, warn and return error - if (m->nconmax != -1 && d->ncon >= m->nconmax) { - mj_warning(d, mjWARN_CONTACTFULL, d->ncon); - return 1; - } - // move arena pointer back to the end of the existing contact array and invalidate efc_ arrays d->parena = d->ncon * sizeof(mjContact); #ifdef ADDRESS_SANITIZER diff --git a/src/engine/engine_util_misc.c b/src/engine/engine_util_misc.c index 673ad0aa..606922e1 100644 --- a/src/engine/engine_util_misc.c +++ b/src/engine/engine_util_misc.c @@ -1302,8 +1302,7 @@ const char* mju_warningText(int warning, size_t info) { case mjWARN_CONTACTFULL: mjSNPRINTF(str, - "Too many contacts. Either the arena memory is full, or nconmax is specified and is " - "exceeded. Increase arena memory allocation, or increase/remove nconmax. " + "Too many contacts. The arena memory is full, increase arena memory allocation." "(ncon = %zu)", info); break; diff --git a/test/engine/testdata/collision_driver/midphase.xml b/test/engine/testdata/collision_driver/midphase.xml index 49bc5dbf..274da5e0 100644 --- a/test/engine/testdata/collision_driver/midphase.xml +++ b/test/engine/testdata/collision_driver/midphase.xml @@ -2,7 +2,6 @@