From 62d200db3393ca8875874df0f07362c7ea5af7aa Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Fri, 17 Mar 2023 05:37:17 -0700 Subject: [PATCH] Improve mid-phase images in changelog. PiperOrigin-RevId: 517390561 Change-Id: Ib2775a5590bc5d03cf7cec1112659829d0dc8ce8 --- doc/changelog.rst | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/doc/changelog.rst b/doc/changelog.rst index 2909f2be..81a66599 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -30,16 +30,13 @@ General one step (ms), 0.5, 0.53, 0.77, 5.0 steps/second, 2000, 1900, 1300, 200 -- Added a collision mid-phase for pruning geoms in body pairs, see :ref:`documentation` for more details. - This is based on static AABB bounding volume hierarchy (a BVH binary tree) in the body inertial frame. - .. image:: images/computation/midphase.gif - :width: 450px - -.. youtube:: e0babIM8hBo :align: right - :height: 150px + :width: 350px +- Added a collision mid-phase for pruning geoms in body pairs, see :ref:`documentation` for more details. + This is based on static AABB bounding volume hierarchy (a BVH binary tree) in the body inertial frame. The GIF on the + right is cut from `this longer video `_. - The ``mjd_transitionFD`` function no longer triggers sensor calculation unless explicitly requested. - Corrected the spelling of the ``inteval`` attribute to ``interval`` in the :ref:`mjLROpt` struct. - Mesh texture and normal mappings are now 3-per-triangle rather than 1-per-vertex. Mesh vertices are no longer