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Remove references to deprecated nconmax and njmax.

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PiperOrigin-RevId: 809987304
Change-Id: I4109497fe108234dd77011d61eb3ef833e6ae111
This commit is contained in:
Taylor Howell
2025-09-22 06:27:56 -07:00
committed by Copybara-Service
parent 4bbe4e5ebc
commit d616f11508
4 changed files with 2 additions and 11 deletions
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src/engine/engine_collision_driver.c
+1 -2
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@@ -279,8 +279,7 @@ void mj_collision(const mjModel* m, mjData* d) {
} }
// return if disabled // return if disabled
if (mjDISABLED(mjDSBL_CONSTRAINT) || mjDISABLED(mjDSBL_CONTACT) if (mjDISABLED(mjDSBL_CONSTRAINT) || mjDISABLED(mjDSBL_CONTACT) || nbodyflex < 2) {
|| m->nconmax == 0 || nbodyflex < 2) {
return; return;
} }
src/engine/engine_core_constraint.c
-6
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@@ -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 // 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) { 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 // move arena pointer back to the end of the existing contact array and invalidate efc_ arrays
d->parena = d->ncon * sizeof(mjContact); d->parena = d->ncon * sizeof(mjContact);
#ifdef ADDRESS_SANITIZER #ifdef ADDRESS_SANITIZER
src/engine/engine_util_misc.c
+1 -2
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@@ -1302,8 +1302,7 @@ const char* mju_warningText(int warning, size_t info) {
case mjWARN_CONTACTFULL: case mjWARN_CONTACTFULL:
mjSNPRINTF(str, mjSNPRINTF(str,
"Too many contacts. Either the arena memory is full, or nconmax is specified and is " "Too many contacts. The arena memory is full, increase arena memory allocation."
"exceeded. Increase arena memory allocation, or increase/remove nconmax. "
"(ncon = %zu)", info); "(ncon = %zu)", info);
break; break;
test/engine/testdata/collision_driver/midphase.xml
Vendored
-1
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@@ -2,7 +2,6 @@
<include file="humanoid.xml"/> <include file="humanoid.xml"/>
<compiler autolimits="true" boundmass="1e-05" boundinertia="1e-11" angle="radian" eulerseq="xyz"/> <compiler autolimits="true" boundmass="1e-05" boundinertia="1e-11" angle="radian" eulerseq="xyz"/>
<option timestep="0.001" cone="elliptic" noslip_iterations="5" noslip_tolerance="0"/> <option timestep="0.001" cone="elliptic" noslip_iterations="5" noslip_tolerance="0"/>
<size njmax="1000" nconmax="500"/>
<visual> <visual>
<headlight ambient="0.4 0.4 0.4" diffuse="0.8 0.8 0.8" specular="0.1 0.1 0.1"/> <headlight ambient="0.4 0.4 0.4" diffuse="0.8 0.8 0.8" specular="0.1 0.1 0.1"/>
<map znear="0.01"/> <map znear="0.01"/>