From 34d69ad4cb1a21846b8297e2bc5e68a4938276c1 Mon Sep 17 00:00:00 2001 From: Michael Moss Date: Fri, 24 Apr 2026 09:55:48 -0700 Subject: [PATCH] Update changelog for the 3.8.0 release. PiperOrigin-RevId: 905086535 Change-Id: Id5b32348465b9fa756a8d60234f5c300ded7a27b --- doc/changelog.rst | 37 +++++++++++++++++++------------------ 1 file changed, 19 insertions(+), 18 deletions(-) diff --git a/doc/changelog.rst b/doc/changelog.rst index af200ca1..b6ff32ef 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -2,40 +2,41 @@ 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` 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` 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 ` +1. Added support for Python 3.14. +2. Added :ref:`multi-cell support` 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` 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 ` +4. Added new :ref:`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` is now enabled by default. This feature has little performance overhead - and gives better contact behavior for stability. + 6. The :ref:`multiccd` 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` must be explicitly disabled. + **Migration:** Disable :ref:`multiccd` to recover the previous behavior. Documentation ^^^^^^^^^^^^^ -* Added :ref:`documentation` for :ref:`mjpDecoder` plugins. +7. Added :ref:`documentation` 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) ------------------------------