Version 2.1: documentation, public API headers, and sample programs.

PiperOrigin-RevId: 403900419

doc/changelog.rst

@@ -0,0 +1,65 @@
+.. include:: includes/macros.rst
+.. include:: includes/roles.rst
+
+=========
+Changelog
+=========
+
+Version 2.1 (Oct. 18, 2021)
+---------------------------
+
+New features
+^^^^^^^^^^^^
+
+1. Keyframes now have ``mocap_pos`` and ``mocap_quat`` fields (mpos and quat attributes in the XML) allowing mocap
+   poses to be stored in keyframes.
+2. New utility functions: ``mju_insertionSortInt`` (integer insertion sort) and ``mju_sigmoid`` (constructing a
+   sigmoid from two half-quadratics).
+
+General
+^^^^^^^
+
+3. The pre-allocated sizes in the virtual file system (VFS) increased to 2000 and 1000, to allow for larger projects.
+#. The C structs in the ``mjuiItem`` union are now named, for compatibility.
+#. Fixed: ``mjcb_contactfilter`` type is ``mjfConFilt`` (was ``mjfGeneric``).
+#. Fixed: The array of sensors in ``mjCModel`` was not cleared.
+#. Cleaned up cross-platform code (internal changes, not visible via the API).
+#. Fixed a bug in parsing of XML ``texcoord`` data (related to number of vertices).
+#. Fixed a bug in `simulate.cc <https://github.com/deepmind/mujoco/blob/main/sample/simulate.cc>`_ related to ``nkey``
+   (the number of keyframes).
+#. Accelerated collision detection in the presence of large numbers of non-colliding geoms (with ``contype==0 and
+   conaffinity==0``).
+
+UI
+^^
+
+11. Figure selection type changed from ``int`` to ``float``.
+#. Figures now show data coordinates, when selection and highlight are enabled.
+#. Changed ``mjMAXUIMULTI`` to 35, ``mjMAXUITEXT`` to 300, ``mjMAXUIRECT`` to 25.
+#. Added collapsable sub-sections, implemented as separators with state: ``mjSEPCLOSED`` collapsed, ``mjSEPCLOSED+1``
+   expanded.
+#. Added ``mjITEM_RADIOLINE`` item type.
+#. Added function ``mjui_addToSection`` to simplify UI section construction.
+#. Added subplot titles to ``mjvFigure``.
+
+Rendering
+^^^^^^^^^
+
+18. ``render_gl2`` guards against non-finite floating point data in the axis range computation.
+#. ``render_gl2`` draws lines from back to front for better visibility.
+#. Added function ``mjr_label`` (for text labels).
+#. ``mjr_render`` exits immediately if ``ngeom==0``, to avoid errors from uninitialized scenes (e.g. ``frustrum==0``).
+#. Added scissor box in ``mjr_render``, so we don't clear the entire window at every frame.
+
+
+License manager
+^^^^^^^^^^^^^^^
+
+23. Removed the entire license manager. The functions ``mj_activate`` and ``mj_deactivate`` are still there for
+    backward compabitibily, but now they do nothing and it is no longer necessary to call them.
+#. Removed the remote license certificate functions ``mj_certXXX``.
+
+Earlier Versions
+----------------
+
+For changelogs of earlier versions please see `roboti.us <https://www.roboti.us/download.html>`_.