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Add 2.1.2 release date and document experimental fluid interaction model in the changelog.

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PiperOrigin-RevId: 434760829
Change-Id: I71d3ca9864890927d2945c73767511e5e973be73
This commit is contained in:
Saran Tunyasuvunakool
2022-03-15 15:45:08 +00:00
parent 3577e2cf8b
commit 147efb5192
3 changed files with 40 additions and 5 deletions
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doc/APIreference.rst
+3
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@@ -1505,6 +1505,7 @@ mjModel
mjtNum* geom_friction; // friction for (slide, spin, roll) (ngeom x 3)
mjtNum* geom_margin; // detect contact if dist<margin (ngeom x 1)
mjtNum* geom_gap; // include in solver if dist<margin-gap (ngeom x 1)
mjtNum* geom_fluid; // fluid interaction parameters (ngeom x mjNFLUID)
mjtNum* geom_user; // user data (ngeom x nuser_geom)
float* geom_rgba; // rgba when material is omitted (ngeom x 4)
@@ -3170,6 +3171,8 @@ Numeric constants
| mjNBIAS | 10 | The maximal number of real-valued parameters used to define the bias of each actuator. |
| | | Determines the size of mjModel.actuator_biasprm. |
+------------------+--------+----------------------------------------------------------------------------------------+
| mjNFLUID | 12 | The number of per-geom fluid interaction parameters required by the ellipsoidal model. |
+------------------+--------+----------------------------------------------------------------------------------------+
| mjNREF | 2 | The maximal number of real-valued parameters used to define the reference acceleration |
| | | of each scalar constraint. Determines the size of all mjModel.XXX_solref fields. |
+------------------+--------+----------------------------------------------------------------------------------------+
doc/XMLreference.rst
+27 -1
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@@ -274,7 +274,7 @@ XML schema
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`mesh` | :at:`fitscale` | :at:`rgba` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | | | |
| | | | :at:`user` | :at:`fluidshape` | :at:`fluidcoef` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`site` | ? | .. table:: |
@@ -609,6 +609,8 @@ XML schema
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`fitscale` | :at:`rgba` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`fluidshape` | :at:`fluidcoef` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`site` | \* | .. table:: |
| | | :class: mjcf-attributes |
@@ -3327,6 +3329,30 @@ mjModel. If the XML model is saved, it will appear as a regular joint of type "f
This attribute is used only when a primitive geometric type is being fitted to a mesh asset. The scale specified here
is relative to the output of the automated fitting procedure. The default value of 1 leaves the result unchanged, a
value of 2 makes all sizes of the fitted geom two times larger.
:at:`fluidshape`: :at-val:`[none, ellipsoid], "none"`
"ellipsoid" Activates geom-level stateless fluid interaction model based on an ellipsoidal approximation of the geom
shape. When active, the model based on :ref:`body inertia sizes <gePassive>` is disabled for the parent body.
:at:`fluidcoef`: :at-val:`real(5), "0.5 0.25 1.5 1.0 1.0"`
Dimensionless coefficients of fluid interaction model, as follows.
.. table::
:align: left
+--------+-----------------------------+----------+
| Index | Description | Default |
+========+=============================+==========+
| 0 | Blunt drag coefficient. | 0.5 |
+--------+-----------------------------+----------+
| 1 | Slender drag coeficient. | 0.25 |
+--------+-----------------------------+----------+
| 2 | Angular drag coefficient. | 1.5 |
+--------+-----------------------------+----------+
| 3 | Kutta lift coeficient. | 1.0 |
+--------+-----------------------------+----------+
| 4 | Magnus lift coeficient. | 1.0 |
+--------+-----------------------------+----------+
:at:`user`: :at-val:`real(nuser_geom), "0 0 ..."`
See :ref:`CUser`.
doc/changelog.rst
+10 -4
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@@ -2,8 +2,8 @@
Changelog
=========
Version 2.1.2 (Date TBD, 2022)
------------------------------
Version 2.1.2 (Mar. 15, 2022)
-----------------------------
New modules
^^^^^^^^^^^
@@ -64,10 +64,16 @@ General
perspective of C and C++, this is a non-change since array types in function signatures decay to pointer types.
However, it allows autogenerated code to be aware of expected input shapes.
#. Experimental stateless fluid interaction model. As described :ref:`here <gePassive>`, fluid forces use sizes computed
from body inertia. While sometimes convenient, this is very rarely a good approximation. In the new model forces act
on geoms, rather than bodies, and have a several user-settable parameters. The model is activated by setting a new
attribute: ``<geom fluidshape="ellipsoid"/>``. The parameters are described succinctly :ref:`here<geom>`, but we
leave a full description or the model and its parameters to when this feature leaves experimental status.
Bug Fixes
^^^^^^^^^
15. ``mj_loadXML`` and ``mj_saveLastXML`` are now locale-independent. The Unity plugin should now work correctly for
16. ``mj_loadXML`` and ``mj_saveLastXML`` are now locale-independent. The Unity plugin should now work correctly for
users whose system locales use commas as decimal separators.
#. XML assets in VFS no longer need to end in a null character. Instead, the file size is determined by the size
parameter of the corresponding VFS entry.
@@ -77,7 +83,7 @@ Bug Fixes
Binary build
^^^^^^^^^^^^
18. Windows binaries are now built with Clang.
20. Windows binaries are now built with Clang.
Version 2.1.1 (Dec. 16, 2021)
-----------------------------