From a6841120f87ca0c34258b4d69486337f5537ef8a Mon Sep 17 00:00:00 2001 From: Kevin Zakka Date: Sat, 6 Aug 2022 05:43:50 -0700 Subject: [PATCH] Mention the new Implicit-in-velocity Euler integrator in the XML reference. #mujoco PiperOrigin-RevId: 465754132 Change-Id: If1578afe00a69bfa6816d8e18d5fdc9296a69dc4 --- doc/APIreference.rst | 1 + doc/XMLreference.rst | 5 +++-- doc/changelog.rst | 2 +- 3 files changed, 5 insertions(+), 3 deletions(-) diff --git a/doc/APIreference.rst b/doc/APIreference.rst index 6023bbd1..23ca20c0 100644 --- a/doc/APIreference.rst +++ b/doc/APIreference.rst @@ -232,6 +232,7 @@ mjtIntegrator { mjINT_EULER = 0, // semi-implicit Euler mjINT_RK4 // 4th-order Runge Kutta + mjINT_IMPLICIT // implicit in velocity } mjtIntegrator; | Defined in `mjmodel.h `_ diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst index 2126d773..4e46a45f 100644 --- a/doc/XMLreference.rst +++ b/doc/XMLreference.rst @@ -1758,9 +1758,10 @@ adjust it properly through the XML. :at:`o_solref`, :at:`o_solimp` These attributes replace the solref and solimp parameters of all active contact pairs when contact override is enabled. See :ref:`CSolver` for details. -:at:`integrator`: :at-val:`[Euler, RK4], "Euler"` +:at:`integrator`: :at-val:`[Euler, RK4, implicit], "Euler"` This attribute selects the numerical :ref:`integrator ` to be used. Currently the available - integrators are the semi-implicit Euler method and the fixed-step 4-th order Runge Kutta method. + integrators are the semi-implicit Euler method, the fixed-step 4-th order Runge Kutta method, and + the Implicit-in-velocity Euler method. :at:`collision`: :at-val:`[all, predefined, dynamic], "all"` This attribute specifies which geom pairs should be checked for collision; recall :ref:`Collision` in the Computation chapter. "predefined" means that only the explicitly-defined contact :ref:`pairs ` are checked. "dynamic" means diff --git a/doc/changelog.rst b/doc/changelog.rst index 08802ef2..497d698d 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -19,7 +19,7 @@ General - Added ``azimuth`` and ``elevation`` attributes to :ref:`visual/global`, defining the initial orientation of the free camera at model load time. - Added ``mjv_defaultFreeCamera`` which sets the default free camera, respecting the above attributes. - - ``simulate`` now supports taking a screenshot via a button in the File section or via ``Ctrl-P``. +- ``simulate`` now supports taking a screenshot via a button in the File section or via ``Ctrl-P``. Bug fixes ^^^^^^^^^