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Improve mid-phase images in changelog.

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PiperOrigin-RevId: 517390561
Change-Id: Ib2775a5590bc5d03cf7cec1112659829d0dc8ce8
This commit is contained in:
Yuval Tassa
2023-03-17 05:37:17 -07:00
committed by Copybara-Service
parent 0c4e191dd6
commit 62d200db33
1 changed files with 4 additions and 7 deletions
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doc/changelog.rst
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@@ -30,16 +30,13 @@ General
one step (ms), 0.5, 0.53, 0.77, 5.0 one step (ms), 0.5, 0.53, 0.77, 5.0
steps/second, 2000, 1900, 1300, 200 steps/second, 2000, 1900, 1300, 200
- Added a collision mid-phase for pruning geoms in body pairs, see :ref:`documentation<coSelection>` 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 .. image:: images/computation/midphase.gif
:width: 450px
.. youtube:: e0babIM8hBo
:align: right :align: right
:height: 150px :width: 350px
- Added a collision mid-phase for pruning geoms in body pairs, see :ref:`documentation<coSelection>` 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 <https://youtu.be/e0babIM8hBo>`_.
- The ``mjd_transitionFD`` function no longer triggers sensor calculation unless explicitly requested. - 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. - 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 - Mesh texture and normal mappings are now 3-per-triangle rather than 1-per-vertex. Mesh vertices are no longer