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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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src/engine/engine_core_constraint.c
+3 -7
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@@ -540,10 +540,6 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
size = 1;
break;
case mjEQ_DISTANCE:
mju_error("distance equality constraints are no longer supported");
break;
default: // SHOULD NOT OCCUR
mju_error_i("Invalid equality constraint type %d", m->eq_type[i]);
}
@@ -806,7 +802,7 @@ void mj_instantiateContact(const mjModel* m, mjData* d) {
// skip contact if no DOFs affected
if (NV==0) {
con->efc_address = -1;
con->exclude = 4;
con->exclude = 3;
continue;
}
@@ -920,8 +916,8 @@ void mj_diagApprox(const mjModel* m, mjData* d) {
m->tendon_invweight0[m->eq_obj2id[id]]);
break;
case mjEQ_DISTANCE:
mju_error("distance equality constraints are no longer supported");
default:
mju_error_i("Unknown constraint type type %d", d->efc_type[i]); // SHOULD NOT OCCUR
}
break;