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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
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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"`