chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Remove mjtVisFlag.mjVIS_FLEXBVH and mjvOption.oct_depth

Browse Source 
PiperOrigin-RevId: 783355711
Change-Id: I1e11999d5c533925f1d07266aeca95598a5691ba
This commit is contained in:
Yuval Tassa
2025-07-15 09:07:34 -07:00
committed by Copybara-Service
parent 14a8880d0d
commit 5e666635f6
11 changed files with 16 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/changelog.rst
+5
View File
@@ -14,11 +14,16 @@ General
as input to learning-based agents and in environment logic.
- Removed the SdfLib plugin and the dependency on `SdfLib <https://github.com/UPC-ViRVIG/SdfLib>`__. SDFs are now
supported natively in mjModel.
- Removed ``oct_depth`` from :ref:`mjvOption` (unused).
- Inertia computation in MuJoCo C is now performed by a new :ref:`pipeline<piStages>` function :ref:`mj_makeM`, which
combines the Composite Rigid Body algorithm in :ref:`mj_crb` and additional terms related to
:ref:`tendon armature<tendon-spatial-armature>`. Code that uses :ref:`mj_crb` to compute the inertia should now use
:ref:`mj_makeM` instead.
.. admonition:: Breaking API changes
:class: attention
- Removed the ``mjVIS_FLEXBVH`` enum value, its functionality is now provided by :ref:`mjVIS_MESHBVH<mjtVisFlag>`.
Bug fixes
^^^^^^^^^