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Remove vertcollide attribute from flex contact.

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The `vertcollide` attribute in flex and flexcomp contact specifications has been removed since the next mjWarp release will support flex collisions. This attribute was previously used to enable vertex-based collisions by adding sphere geoms at flex vertices. The functionality associated with this attribute has been deprecated and removed from the XML parser, documentation, and internal data structures. Affected example XML files have also been updated.

PiperOrigin-RevId: 885595503
Change-Id: I6a78975f1bc540c09ea8b5306ff3be0962b7ab24
This commit is contained in:
Alessio Quaglino
2026-03-18 07:58:45 -07:00
committed by Copybara-Service
parent ef78f07ffb
commit e57d95e68f
11 changed files with 11 additions and 58 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/XMLreference.rst
+2 -10
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@@ -3801,7 +3801,6 @@ saving the XML:
.. _flexcomp-contact-internal:
.. _flexcomp-contact-selfcollide:
.. _flexcomp-contact-vertcollide:
.. _flexcomp-contact-activelayers:
.. _flexcomp-contact-contype:
.. _flexcomp-contact-conaffinity:
@@ -3816,8 +3815,8 @@ saving the XML:
.. _flexcomp-contact-passive:
.. |body/flexcomp/contact attrib list| replace::
:at:`internal`, :at:`selfcollide`, :at:`vertcollide`, :at:`activelayers`, :at:`contype`, :at:`conaffinity`,
:at:`condim`, :at:`priority`, :at:`friction`, :at:`solmix`, :at:`solimp`, :at:`margin`, :at:`gap`
:at:`internal`, :at:`selfcollide`, :at:`activelayers`, :at:`contype`, :at:`conaffinity`, :at:`condim`,
:at:`priority`, :at:`friction`, :at:`solmix`, :at:`solimp`, :at:`margin`, :at:`gap`
|body/flexcomp/contact attrib list|
Same as in :ref:`flex/contact<flex-contact>`. All attributes are passed through to the automatically-generated flex.
@@ -4336,13 +4335,6 @@ extensions specific to flexes.
**sap** in 1D and 2D, and **bvh** in 3D. Which strategy performs better depends on the specifics of the model. The
automatic setting is just a simple rule which we have found to perform well in general.
.. _flex-contact-vertcollide:
:at:`vertcollide`: :at-val:`[true, false], "false"`
Enables or disables vertex collisions. if **true**, spherical geoms are added at the vertices of flex, with radius
equal to the radius of the flex. These geoms can collide with other geoms and are not visible by default. If
**false**, no additional geoms are added.
.. _flex-contact-activelayers:
:at:`activelayers`: :at-val:`int(1), "1"`
doc/XMLschema.rst
-6
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@@ -1564,9 +1564,6 @@
.. grid-item::
:ref:`activelayers<flexcomp-contact-activelayers>`
.. grid-item::
:ref:`vertcollide<flexcomp-contact-vertcollide>`
.. grid-item::
:ref:`passive<flexcomp-contact-passive>`
@@ -1705,9 +1702,6 @@
.. grid-item::
:ref:`activelayers<flex-contact-activelayers>`
.. grid-item::
:ref:`vertcollide<flex-contact-vertcollide>`
.. grid-item::
:ref:`passive<flex-contact-passive>`
doc/changelog.rst
+3
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@@ -29,6 +29,9 @@ General
**Migration:** Replace assignments like ``joint.stiffness = val`` with ``joint.stiffness[0] = val``.
- The ``vertcollide`` field in :ref:`mjsContact` has been deprecated since the next release of :doc:`MuJoCo Warp <mjwarp/index>`
will support native flex collisions.
Bug fixes
^^^^^^^^^
doc/includes/references.h
-1
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@@ -2228,7 +2228,6 @@ typedef struct mjsFlex_ { // flex specification
mjtByte internal; // enable internal collisions
mjtByte flatskin; // render flex skin with flat shading
int selfcollide; // mode for flex self collision
int vertcollide; // mode for vertex collision
int passive; // mode for passive collisions
int activelayers; // number of active element layers in 3D
int group; // group for visualization
include/mujoco/mjspec.h
-1
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@@ -442,7 +442,6 @@ typedef struct mjsFlex_ { // flex specification
mjtByte internal; // enable internal collisions
mjtByte flatskin; // render flex skin with flat shading
int selfcollide; // mode for flex self collision
int vertcollide; // mode for vertex collision
int passive; // mode for passive collisions
int activelayers; // number of active element layers in 3D
int group; // group for visualization
model/flex/poncho_vertcollide.xml → model/flex/poncho_edgeequality.xml
+4 -4
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@@ -15,7 +15,7 @@
<mujoco model="Poncho">
<include file="mannequin.xml"/>
<option timestep="0.01" integrator="implicitfast" viscosity=".3" solver="CG" tolerance="1e-6">
<option timestep="0.005" integrator="implicitfast" viscosity=".3" solver="CG" tolerance="1e-6">
<flag energy="enable"/>
</option>
@@ -33,7 +33,7 @@
<worldbody>
<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
<flexcomp name="f1" type="direct" rgba=".8 .2 .2 1" radius="0.02" dim="2" pos="0 0 2"
<flexcomp name="f1" type="direct" rgba=".8 .2 .2 1" radius="0.01" dim="2" pos="0 0 2"
mass="1"
point="0 0 0
-1 1 0
@@ -1414,8 +1414,8 @@
398 399 418
398 376 378">
<edge equality="true" damping="0.1"/>
<elasticity poisson="0.3" young="3e5" thickness="8e-3" elastic2d="bend"/>
<contact solref="0.003" contype="0" conaffinity="0" vertcollide="true"/>
<elasticity poisson="0" young="3e5" thickness="8e-3" elastic2d="bend"/>
<contact solref="0.003"/>
</flexcomp>
</worldbody>
python/mujoco/introspect/structs.py
-5
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@@ -8119,11 +8119,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'),
doc='mode for flex self collision',
),
StructFieldDecl(
name='vertcollide',
type=ValueType(name='int'),
doc='mode for vertex collision',
),
StructFieldDecl(
name='passive',
type=ValueType(name='int'),
src/experimental/platform/gui_spec.cc
-1
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@@ -537,7 +537,6 @@ void ElementSpecGui(mjsElement* element, SpecEditor* editor) {
FIELD(internal, "enable internal collisions");
FIELD(flatskin, "render flex skin with flat shading");
FIELD(selfcollide, "mode for flex self collision");
FIELD(vertcollide, "mode for vertex collision");
FIELD(passive, "mode for passive collisions");
FIELD(activelayers, "number of active element layers in 3D");
FIELD(group, "group for visualization");
src/user/user_flexcomp.cc
-15
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@@ -502,14 +502,6 @@ bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz, const mjVFS* vf
// add new body at vertex coordinates
mjsBody* pb = mjs_addBody(body, 0);
// add geom if vertcollide
if (dflex->vertcollide) {
mjsGeom* geom = mjs_addGeom(pb, 0);
geom->type = mjGEOM_SPHERE;
geom->size[0] = dflex->radius;
geom->group = 4;
}
// set frame and inertial
pb->pos[0] = point[3*i];
pb->pos[1] = point[3*i+1];
@@ -605,13 +597,6 @@ bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz, const mjVFS* vf
pb->inertia[2] = pb->mass*(2.0*inertiabox*inertiabox)/3.0;
pb->explicitinertial = true;
// add geom if vertcollide
if (dflex->vertcollide) {
mjsGeom* geom = mjs_addGeom(pb, 0);
geom->type = mjGEOM_SPHERE;
geom->size[0] = dflex->radius;
}
for (int d=0; d < 3; d++) {
mjsJoint* jnt = mjs_addJoint(pb, 0);
jnt->type = mjJNT_SLIDE;
src/xml/xml_native_reader.cc
+2 -8
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@@ -318,7 +318,7 @@ std::vector<const char*> MJCF[nMJCF] = {
{"elasticity", "?", "young", "poisson", "damping", "thickness", "elastic2d"},
{"contact", "?", "contype", "conaffinity", "condim", "priority",
"friction", "solmix", "solref", "solimp", "margin", "gap",
"internal", "selfcollide", "activelayers", "vertcollide", "passive"},
"internal", "selfcollide", "activelayers", "passive"},
{"pin", "*", "id", "range", "grid", "gridrange"},
{"plugin", "*", "plugin", "instance"},
{"<"},
@@ -334,7 +334,7 @@ std::vector<const char*> MJCF[nMJCF] = {
{"<"},
{"contact", "?", "contype", "conaffinity", "condim", "priority",
"friction", "solmix", "solref", "solimp", "margin", "gap",
"internal", "selfcollide", "activelayers", "vertcollide", "passive"},
"internal", "selfcollide", "activelayers", "passive"},
{"edge", "?", "stiffness", "damping"},
{"elasticity", "?", "young", "poisson", "damping", "thickness", "elastic2d"},
{">"},
@@ -1519,9 +1519,6 @@ void mjXReader::OneFlex(XMLElement* elem, mjsFlex* flex) {
flex->internal = (n == 1);
}
MapValue(cont, "selfcollide", &flex->selfcollide, flexself_map, 5);
if (MapValue(cont, "vertcollide", &flex->vertcollide, bool_map, 2)) {
flex->vertcollide = (n == 1);
}
if (MapValue(cont, "passive", &flex->passive, bool_map, 2)) {
flex->passive = (n == 1);
}
@@ -2822,9 +2819,6 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjsBody* body, const mjVFS* vfs) {
dflex.internal = (n == 1);
}
MapValue(cont, "selfcollide", &dflex.selfcollide, flexself_map, 5);
if (MapValue(cont, "vertcollide", &n, bool_map, 2)) {
dflex.vertcollide = (n == 1);
}
if (MapValue(cont, "passive", &n, bool_map, 2)) {
dflex.passive = (n == 1);
}
wasm/codegen/generated/bindings.cc
-7
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@@ -2375,12 +2375,6 @@ struct MjsFlex {
void set_selfcollide(int value) {
ptr_->selfcollide = value;
}
int vertcollide() const {
return ptr_->vertcollide;
}
void set_vertcollide(int value) {
ptr_->vertcollide = value;
}
int passive() const {
return ptr_->passive;
}
@@ -12554,7 +12548,6 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("thickness", &MjsFlex::thickness, &MjsFlex::set_thickness, reference())
.property("vert", &MjsFlex::vert, reference())
.property("vertbody", &MjsFlex::vertbody, reference())
.property("vertcollide", &MjsFlex::vertcollide, &MjsFlex::set_vertcollide, reference())
.property("young", &MjsFlex::young, &MjsFlex::set_young, reference());
emscripten::class_<MjsFrame>("MjsFrame")
.property("alt", &MjsFrame::alt, reference())