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Fix bug in `mjx.ray` and speed up ray-mesh by ~30% for large meshes.

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PiperOrigin-RevId: 629209303
Change-Id: I39466e9a2dc55ec48dcca1780e8abef903d1c754
This commit is contained in:
Erik Frey
2024-04-29 15:46:44 -07:00
committed by Copybara-Service
parent 618d879904
commit 719476c274
3 changed files with 32 additions and 42 deletions
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doc/changelog.rst
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@@ -41,14 +41,15 @@ MJX
13. Added support for all :ref:`condim <coContact>`: 1, 3, 4, 6.
14. Add support functions for ``id2name`` and ``name2id``, MJX versions of :ref:`mj_id2name` and :ref:`mj_name2id`.
15. Added support for :ref:`gravcomp<body-gravcomp>` and :ref:`actuatorgravcomp<body-joint-actuatorgravcomp>`.
16. Fixed a bug in ``mjx.ray`` for sometimes allowed negative distances for ray-mesh tests.
Bug fixes
^^^^^^^^^
16. Defaults of lights were not being saved, now fixed.
17. Prevent overwriting of frame names by body names when saving an XML. Bug introduced in 3.1.4.
18. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
17. Defaults of lights were not being saved, now fixed.
18. Prevent overwriting of frame names by body names when saving an XML. Bug introduced in 3.1.4.
19. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
not optional.
19. Fixed bug that prevented memory allocations larger than 2.15 GB.
20. Fixed bug that prevented memory allocations larger than 2.15 GB.
Version 3.1.4 (April 10th, 2024)