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