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Delete remaining code related to now-removed distance equality constraint.

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PiperOrigin-RevId: 513391064
Change-Id: I47fc344708a580c1e99bd2753113aaa408812966
This commit is contained in:
Yuval Tassa
2023-03-01 17:57:07 -08:00
committed by Copybara-Service
parent 50bebcb4ee
commit fd1070cf03
7 changed files with 12 additions and 59 deletions
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include/mujoco/mjdata.h
+3 -3
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@@ -84,11 +84,11 @@ struct mjContact_ { // result of collision detection functions
int geom1; // id of geom 1
int geom2; // id of geom 2
// flag set by mj_fuseContact or mj_instantianteEquality
int exclude; // 0: include, 1: in gap, 2: fused, 3: equality, 4: no dofs
// flag set by mj_instantianteEquality
int exclude; // 0: include, 1: in gap, 2: fused, 3: no dofs
// address computed by mj_instantiateContact
int efc_address; // address in efc; -1: not included, -2-i: distance constraint i
int efc_address; // address in efc; -1: not included
};
typedef struct mjContact_ mjContact;