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Add mj_geomDistance API function and sensors for geometric distance, normal direction and segment between between two geoms. Fixes #51

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PiperOrigin-RevId: 632458301
Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
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Yuval Tassa
2024-05-10 04:51:46 -07:00
committed by Copybara-Service
parent 31de1dad9d
commit 02d015458c
29 changed files with 1002 additions and 66 deletions
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doc/changelog.rst
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@@ -5,12 +5,19 @@ Changelog
Upcoming version (not yet released)
-----------------------------------
General
^^^^^^^
1. Added :ref:`mj_geomDistance` for computing the shortest signed distance between two geoms and optionally a segment
connecting them. Relatedly, added the 3 sensors: :ref:`distance<sensor-distance>`, :ref:`normal<sensor-normal>`,
:ref:`fromto<sensor-fromto>`. See the function and sensor documentation for details. Fixes :github:issue:`51`.
Bug fixes
^^^^^^^^^
1. Fixed a bug the could cause collisions to be missed when :ref:`fusestatic<compiler-fusestatic>` is enabled, as is
2. Fixed a bug the could cause collisions to be missed when :ref:`fusestatic<compiler-fusestatic>` is enabled, as is
often the case for URDF imports. Fixes :github:issue:`1069`, :github:issue:`1577`.
2. Fixed a bug that was causing the visualization of SDF iterations to write outside the size of the vector storing
3. Fixed a bug that was causing the visualization of SDF iterations to write outside the size of the vector storing
them. Fixes :github:issue:`1539`.
Version 3.1.5 (May 7, 2024)