Remove references to deprecated nconmax and njmax.

PiperOrigin-RevId: 809987304
Change-Id: I4109497fe108234dd77011d61eb3ef833e6ae111

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;
   }
 

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

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;