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Add nativeccd flag. When this flag is enabled, general convex collision detection is handled natively, as opposed to using libccd.

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PiperOrigin-RevId: 663859009
Change-Id: Ife18bb1de62f2154e4725fdf764484a18586b836
This commit is contained in:
Kyle Bayes
2024-08-16 14:07:53 -07:00
committed by Copybara-Service
parent 390bce2352
commit 0bffd744f9
13 changed files with 62 additions and 39 deletions
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doc/changelog.rst
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@@ -7,28 +7,31 @@ Upcoming version (not yet released)
General
^^^^^^^
1. Added :ref:`mjSpec` option for creating a texture from a buffer.
2. :ref:`shellinertia <body-geom-shellinertia>` is now supported by all geom types.
3. Added support for :ref:`attaching<meAttachment>` keyframes.
1. Added the :ref:`nativeccd<option-flag-nativeccd>` flag. When this flag is enabled, general convex collision
detection is handled natively, as opposed to using `libccd <https://github.com/danfis/libccd>`__. This feature is in
early stages of testing.
2. Added :ref:`mjSpec` option for creating a texture from a buffer.
3. :ref:`shellinertia <body-geom-shellinertia>` is now supported by all geom types.
4. Added support for :ref:`attaching<meAttachment>` keyframes.
MJX
^^^
4. Added ``efc_pos`` to ``mjx.Data`` (:github:issue:`1388`).
5. Added position-dependent sensors: ``MAGNETOMETER``, ``JOINTPOS``, ``ACTUATORPOS``, ``BALLQUAT``, ``FRAMEPOS``,
5. Added ``efc_pos`` to ``mjx.Data`` (:github:issue:`1388`).
6. Added position-dependent sensors: ``MAGNETOMETER``, ``JOINTPOS``, ``ACTUATORPOS``, ``BALLQUAT``, ``FRAMEPOS``,
``FRAMEXAXIS``, ``FRAMEYAXIS``, ``FRAMEZAXIS``, ``SUBTREECOM``, ``CLOCK``.
6. Changed default policy to avoid placing unused (MuJoCo-only) arrays on device.
7. Added ``device`` parameter to ``mjx.make_data`` to bring it to parity with ``mjx.put_model`` and ``mjx.put_data``.
7. Changed default policy to avoid placing unused (MuJoCo-only) arrays on device.
8. Added ``device`` parameter to ``mjx.make_data`` to bring it to parity with ``mjx.put_model`` and ``mjx.put_data``.
Bug fixes
^^^^^^^^^
8. Fixed a performance regression introduced in 3.1.7 in mesh Bounding Volume Hierarchies (:github:issue:`1875`,
contribution by :github:user:`michael-ahn`).
9. Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit
integrators, wrong derivatives would be computed.
9. Fixed a performance regression introduced in 3.1.7 in mesh Bounding Volume Hierarchies (:github:issue:`1875`,
contribution by :github:user:`michael-ahn`).
10. Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit
integrators, wrong derivatives would be computed.
Python bindings
^^^^^^^^^^^^^^^
10. Added support for engine plugins in :ref:`mjSpec` (:github:issue:`1903`).
11. Added support for engine plugins in :ref:`mjSpec` (:github:issue:`1903`).
Version 3.2.2 (Aug 8, 2024)