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Update changelog for the 3.8.0 release.

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PiperOrigin-RevId: 905086535
Change-Id: Id5b32348465b9fa756a8d60234f5c300ded7a27b
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Michael Moss
2026-04-24 09:55:48 -07:00
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Changelog
=========
Upcoming version (not yet released)
-----------------------------------
Version 3.8.0 (April 24, 2026)
------------------------------
General
^^^^^^^
- Added support for Python 3.14.
- Added new :ref:`mj_maxContact<mj_maxContact>` function to get the maximum number of possible contacts returned by
two geoms.
- Added ``mj_containsBufferVFS`` and ``mj_containsFileVFS`` to check for existence of buffers and files in VFS.
- Added :ref:`multi-cell support<body-flexcomp-cellnum>` for trilinear and quadratic flexes. Note that the implicit
integrator uses a dense solver for the flex degrees of freedom, which can be slow for multi-cell flexes.
- Refactored ``flexstrain`` equality constraints to be instantiated per cell instead of per flex object, reducing the
number of degrees of freedom per constraint row. The equality can be associated with a specific cell with the new
attribute ":ref:`cell <equality-flexstrain-cell>`
1. Added support for Python 3.14.
2. Added :ref:`multi-cell support<body-flexcomp-cellnum>` for trilinear and quadratic flexes. Note that the implicit
integrator uses a dense solver for the flex degrees of freedom, which can be slow for multi-cell flexes.
3. Refactored ``strain`` flex :ref:`equality constraints<flexcomp-edge-equality>` to be instantiated per cell instead of
per flex object, reducing the number of degrees of freedom per constraint row. The equality can be associated with a
specific cell with the new attribute :ref:`cell <equality-flexstrain-cell>`
4. Added new :ref:`mj_maxContact<mj_maxContact>` function to get the maximum number of possible contacts returned by
colliding two geoms.
5. Added ``mj_containsBufferVFS`` and ``mj_containsFileVFS`` to check for existence of buffers and files in VFS.
.. admonition:: Breaking API changes
:class: attention
- The feature :ref:`multiccd<coMultiCCD>` is now enabled by default. This feature has little performance overhead
and gives better contact behavior for stability.
6. The :ref:`multiccd<coMultiCCD>` option (multiple contacts returned from the convex collision detection pipeline)
is now enabled by default. The new implementation (as opposed to the legacy pipeline) has little performance
overhead and improves stability.
**Migration:** The flag :ref:`multiccd<option-flag-multiccd>` must be explicitly disabled.
**Migration:** Disable :ref:`multiccd<option-flag-multiccd>` to recover the previous behavior.
Documentation
^^^^^^^^^^^^^
* Added :ref:`documentation<exDecoder>` for :ref:`mjpDecoder` plugins.
7. Added :ref:`documentation<exDecoder>` for :ref:`mjpDecoder` plugins.
Bug fixes
^^^^^^^^^
- Asset paths in attached child specs are now resolved relative to the model file directory of the child spec, rather
than the parent spec. This prevents the origin of the parent spec to affect the resolution of asset paths in the child
spec.
8. Asset paths in attached child specs are now resolved relative to the model file directory of the child spec, rather
than the parent spec. This prevents the origin of the parent spec to affect the resolution of asset paths in the
child spec.
Version 3.7.0 (April 14, 2026)
------------------------------