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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
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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
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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. |
+------------------+--------+----------------------------------------------------------------------------------------+