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Add mjd_quatIntegrate, expose mjd_subQuat.

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PiperOrigin-RevId: 546252926
Change-Id: I7d6b2bd6536e7e8afc368f3c46037c20f6a1cb5e
This commit is contained in:
Yuval Tassa
2023-07-07 05:32:18 -07:00
committed by Copybara-Service
parent 7401d6786a
commit 5cfbb6ac8b
13 changed files with 366 additions and 8 deletions
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doc/changelog.rst
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@@ -8,9 +8,12 @@ Upcoming version (not yet released)
General
^^^^^^^
- Added primitive collider for sphere-cylinder contacts, previously this pair used the generic convex-convex collider.
- Added analytic derivatives for quaternion :ref:`subtraction<mjd_subQuat>` and :ref:`integration<mjd_quatIntegrate>`
(rotation with an angular velocity). Derivatives are in the 3D tangent space.
- Added :ref:`mjv_connector` which has identical functionality to :ref:`mjv_makeConnector`, but with more convenient
"from-to" argument parametrization. :ref:`mjv_makeConnector` is now deprecated.
- Added primitive collider for sphere-cylinder contacts, previously this pair used the generic convex-convex collider.
Version 2.3.6 (June 20, 2023)
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