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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/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`.