Merge pull request #2893 from joanllobera:fix/passive-attribute-droped

PiperOrigin-RevId: 878958794
Change-Id: I2d1fe080bd02b5c3e685cefbf36d45821cdfb46d

unity/Runtime/Components/MjGlobalSettings.cs

@@ -327,7 +327,7 @@ public class MjGlobalSettings : MonoBehaviour {
   public static MjGlobalSettings Instance {
     get {
      if (_instance == null) {
-        var instances = FindObjectsOfType<MjGlobalSettings>();
+        var instances = FindObjectsByType<MjGlobalSettings>(FindObjectsSortMode.None);
         if (instances.Length > 1) {
           throw new InvalidOperationException(
               "Only one MjGlobalSettings instance is allowed - please resolve manually.");

unity/Runtime/Components/MjScene.cs

@@ -50,7 +50,7 @@ public class MjScene : MonoBehaviour {
   public static MjScene Instance {
     get {
       if (_instance == null) {
-        var instances = FindObjectsOfType<MjScene>();
+        var instances = FindObjectsByType<MjScene>(FindObjectsSortMode.None);
         if (instances.Length >= 1) { // even one is too much - _instance shouldn't have been null.
           throw new InvalidOperationException(
               "A MjScene singleton is created automatically, yet multiple instances exist.");
@@ -135,7 +135,7 @@ public class MjScene : MonoBehaviour {
     // I briefly explored that approach, but decided against it. It increases the amount of code
     // on the side of the individual components. This solution allows to restrict the code in the
     // components to a bare minimum, at the expense of one extra method here.
-    var hierarchyRoots = FindObjectsOfType<MjComponent>()
+    var hierarchyRoots = FindObjectsByType<MjComponent>(FindObjectsSortMode.None)
         .Where(component => MjHierarchyTool.FindParentComponent(component) == null)
         .Select(component => component.transform)
         .Distinct();
@@ -209,7 +209,7 @@ public class MjScene : MonoBehaviour {
   // 4. rehydrate the physics scene, and sync the Unity scene to it.
   public unsafe void RecreateScene() {
     // cache joint states in order to re-apply it to the new scene
-    var joints = FindObjectsOfType<MjBaseJoint>();
+    var joints = FindObjectsByType<MjBaseJoint>(FindObjectsSortMode.None);
     var positions = new Dictionary<MjBaseJoint, double[]>();
     var velocities = new Dictionary<MjBaseJoint, double[]>();
     foreach (var joint in joints) {

unity/Runtime/Tools/ConvertMj2Rca.cs

@@ -22,8 +22,8 @@ public static class ConvertMj2Rca {
   private static MjActuator[] _actuators;
   private static MjExclude[] _excludes;
   public static GameObject ConvertTree(MjBody mjRoot) {
-    _excludes = GameObject.FindObjectsOfType<MjExclude>();
-    _actuators = GameObject.FindObjectsOfType<MjActuator>();
+    _excludes = GameObject.FindObjectsByType<MjExclude>(FindObjectsSortMode.None);
+    _actuators = GameObject.FindObjectsByType<MjActuator>(FindObjectsSortMode.None);
     // does it have joints with its parent?
     bool jointFound = false;
     foreach (Transform mjChild in mjRoot.transform) {
@@ -283,7 +283,7 @@ public static class ConvertMj2Rca {
         }
 
         // The list of available ArticulationBodies changes as the recursion advances
-        foreach (var rcOther in GameObject.FindObjectsOfType<ArticulationBody>()) {
+        foreach (var rcOther in GameObject.FindObjectsByType<ArticulationBody>(FindObjectsSortMode.None)) {
           // don't add explicit exclusion to immediate parent (no children yet)
           if (rcParentParent != rcOther && rcOther.gameObject.name == other) {
             // MISSING: Physics.IgnoreCollision statements between all colliders of rcParent

unity/Runtime/Tools/MjHierarchyTool.cs

@@ -72,7 +72,7 @@ public static class MjHierarchyTool {
 
   // Finds a single component that matches both the type and the name criteria.
   public static T FindComponentOfTypeAndName<T>(string name) where T : MjComponent {
-    var components = UnityEngine.Object.FindObjectsOfType<T>().Where(
+    var components = UnityEngine.Object.FindObjectsByType<T>(FindObjectsSortMode.None).Where(
         component => component.gameObject.name == name);
     var numComponents = components.Count();
     if (components == null || numComponents == 0) {