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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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include/mujoco/mjspec.h
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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