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Update docs to highlight nativeccd

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PiperOrigin-RevId: 692918061
Change-Id: I9e44bc3123fe6b8a41b769c7de01b20e3c56d758
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Yuval Tassa
2024-11-04 04:33:59 -08:00
committed by Copybara-Service
parent c168ac3397
commit 298ce31e39
2 changed files with 10 additions and 2 deletions
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doc/changelog.rst
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@@ -5,11 +5,17 @@ Changelog
Upcoming version (not yet released)
-----------------------------------
Feature promotion
^^^^^^^^^^^^^^^^^
- The :doc:`Model Editing<programming/modeledit>` framework afforded by :ref:`mjSpec`, introduced in 3.2.0 as an
in-development feature, is now stable and recommended for general use.
- The native convex collision detection pipeline introduced in 3.2.3 and enabled by the
:ref:`nativeccd<option-flag-nativeccd>` flag, is not yet the default but is already recommended for general use.
Please try it when encountering collision-related problems and report any issues you encounter.
General
^^^^^^^
- The :doc:`Model Editing<programming/modeledit>` framework afforded by :ref:`mjSpec`, introduced in 3.2.0 as an
in-development feature, is now stable and recommended for general use.
- The global compiler flag ``exactmeshinertia`` has been removed and replaced with the mesh-specific
:ref:`inertia<asset-mesh-inertia>` attribute.
- The not-useful ``convexhull`` compiler option (to disable computation of mesh convex hulls) has been removed.