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

PiperOrigin-RevId: 513391064
Change-Id: I47fc344708a580c1e99bd2753113aaa408812966

doc/includes/references.h

@@ -71,11 +71,11 @@ 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
+  // flag set by mj_instantianteEquality
-  int exclude;                    // 0: include, 1: in gap, 2: fused, 3: equality, 4: no dofs
+  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;
 struct mjWarningStat_ {           // warning statistics

include/mujoco/mjdata.h

@@ -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
+  // flag set by mj_instantianteEquality
-  int exclude;                    // 0: include, 1: in gap, 2: fused, 3: equality, 4: no dofs
+  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;
 

src/engine/engine_core_constraint.c

@@ -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:
+      default:
-        mju_error("distance equality constraints are no longer supported");
+        mju_error_i("Unknown constraint type type %d", d->efc_type[i]);    // SHOULD NOT OCCUR
       }
       break;
 

src/engine/engine_core_smooth.c

@@ -908,7 +908,7 @@ void mj_transmission(const mjModel* m, mjData* d) {
             }
           }
 
-          // excluded contact, get sparse or dense Jacobian, accumulate
+          // excluded contact in gap: get sparse or dense Jacobian, accumulate
           else if (con->exclude == 1) {
             counter++;
 
@@ -2034,10 +2034,6 @@ void mj_rnePostConstraint(const mjModel* m, mjData* d) {
       i++;
       break;
 
-    case mjEQ_DISTANCE:
-      mju_error("distance equality constraints are no longer supported");
-      break;
-
     default:
       mju_error_i("Unknown constraint type type %d", m->eq_type[id]);    // SHOULD NOT OCCUR
     }

src/engine/engine_vis_visualize.c

@@ -468,7 +468,6 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
   mjtNum *cur, *nxt, *xpos, *xfrc;
   mjtNum vec[3], end[3], axis[3], rod, len, det, tmp[9], quat[4];
   mjtByte broken;
-  mjContact *con;
   mjvGeom* thisgeom;
   mjvPerturb localpert;
   float scl = m->stat.meansize, rgba[4];
@@ -1667,39 +1666,6 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         FINISH
       }
     }
-
-    // distance: find constraints at the end of the contact list
-    int j = d->ncon-1;
-    while (j>=0 && d->contact[j].exclude==3) {
-      // recover constraint id
-      int i = -d->contact[j].efc_address-2;
-
-      // segment = pos +/- normal*len
-      con = d->contact+j;
-      len = con->dist - m->eq_data[mjNEQDATA*i];
-      mju_addScl3(vec, con->pos, con->frame, 0.5*len);
-      mju_addScl3(end, con->pos, con->frame, -0.5*len);
-
-      // connect endpoints
-      START
-
-      // construct geom
-      sz[0] = scl * m->vis.scale.constraint;
-      mjv_makeConnector(thisgeom, mjGEOM_CAPSULE, sz[0],
-                        vec[0], vec[1], vec[2],
-                        end[0], end[1], end[2]);
-
-      f2f(thisgeom->rgba, m->vis.rgba.constraint, 4);
-
-      // vopt->label flag
-      if (vopt->label==mjLABEL_CONSTRAINT) {
-        makeLabel(m, mjOBJ_EQUALITY, i, thisgeom->label);
-      }
-
-      FINISH
-
-      j--;
-    }
   }
 
   // contact

src/user/user_objects.cc

@@ -2957,8 +2957,6 @@ void mjCEquality::Compile(void) {
     objtype = mjOBJ_JOINT;
   } else if (type==mjEQ_TENDON) {
     objtype = mjOBJ_TENDON;
-  } else if (type==mjEQ_DISTANCE) {
-    objtype = mjOBJ_GEOM;
   } else {
     throw mjCError(this, "invalid type in equality constraint '%s' (id = %d)'", name.c_str(), id);
   }

src/xml/xml_native_writer.cc

@@ -483,11 +483,8 @@ void mjXWriter::OneEquality(XMLElement* elem, mjCEquality* peq, mjCDef* def) {
       WriteAttr(elem, "polycoef", 5, peq->data);
       break;
 
-    case mjEQ_DISTANCE:
+    default:
-      WriteAttrTxt(elem, "geom1", peq->name1);
+      mju_error("mjXWriter: unknown equality type.");
-      WriteAttrTxt(elem, "geom2", peq->name2);
-      WriteAttr(elem, "distance", 1, peq->data);
-      break;
     }
   }