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Update the MuJoCo changelog for the 3.2.5 release

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Change-Id: I675424a3feeda8037a9559753dc93c05b812257c
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Google DeepMind
2024-11-04 11:18:59 -08:00
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Changelog
=========
Upcoming version (not yet released)
-----------------------------------
Version 3.2.5 (Nov 4, 2024)
---------------------------
Feature promotion
^^^^^^^^^^^^^^^^^
- The :doc:`Model Editing<programming/modeledit>` framework afforded by :ref:`mjSpec`, introduced in 3.2.0 as an
in-development feature, is now stable and recommended for general use.
- The native convex collision detection pipeline introduced in 3.2.3 and enabled by the
:ref:`nativeccd<option-flag-nativeccd>` flag, is not yet the default but is already recommended for general use.
Please try it when encountering collision-related problems and report any issues you encounter.
1. The :doc:`Model Editing<programming/modeledit>` framework afforded by :ref:`mjSpec`, introduced in 3.2.0 as an
in-development feature, is now stable and recommended for general use.
2. The native convex collision detection pipeline introduced in 3.2.3 and enabled by the
:ref:`nativeccd<option-flag-nativeccd>` flag, is not yet the default but is already recommended for general use.
Please try it when encountering collision-related problems and report any issues you encounter.
General
^^^^^^^
- The global compiler flag ``exactmeshinertia`` has been removed and replaced with the mesh-specific
:ref:`inertia<asset-mesh-inertia>` attribute.
- The not-useful ``convexhull`` compiler option (to disable computation of mesh convex hulls) has been removed.
- Removed the deprecated ``mju_rotVecMat``, ``mju_rotVecMatT`` and ``mjv_makeConnector`` functions.
- Sorting now uses a faster, native sort function (fixes :github:issue:`1638`).
- The PBR texture layers introduced in 3.2.1 were refactored from seperate sub-elements to a single
:ref:`layer<material-layer>` sub-element.
- The composite types box, cylinder, and sphere have been removed. Users should instead use the equivalent types
available in :ref:`flexcomp<body-flexcomp>`.
3. The global compiler flag ``exactmeshinertia`` has been removed and replaced with the mesh-specific
:ref:`inertia<asset-mesh-inertia>` attribute.
4. The not-useful ``convexhull`` compiler option (to disable computation of mesh convex hulls) has been removed.
5. Removed the deprecated ``mju_rotVecMat``, ``mju_rotVecMatT`` and ``mjv_makeConnector`` functions.
6. Sorting now uses a faster, native sort function (fixes :github:issue:`1638`).
7. The PBR texture layers introduced in 3.2.1 were refactored from seperate sub-elements to a single
:ref:`layer<material-layer>` sub-element.
8. The composite types box, cylinder, and sphere have been removed. Users should instead use the equivalent types
available in :ref:`flexcomp<body-flexcomp>`.
MJX
^^^
- Added ``apply_ft``, ``jac``, and ``xfrc_accumulate`` as public functions.
- Added ``TOUCH`` sensor.
- Added support for ``eq_active``. Fixes :github:issue:`2173`.
- Added ray intersection with ellipsoid.
9. Added ``apply_ft``, ``jac``, and ``xfrc_accumulate`` as public functions.
10. Added ``TOUCH`` sensor.
11. Added support for ``eq_active``. Fixes :github:issue:`2173`.
12. Added ray intersection with ellipsoid.
Bug fixes
^^^^^^^^^
- Fixed several bugs related to connect and weld constraints with site semantics (fixes :github:issue:`2179`, reported
by :github:user:`yinfanyi`). The introduction of site specification to connects and welds in 3.2.3 conditionally
changed the semantics of `mjData.eq_obj1id` and `mjData.eq_obj2id`, but these changes were not properly propagated in
several places leading to incorrect computations of constraint inertia, readings of affected force/torque sensors and
runtime enabling/disabling of such constraints.
- Fixed a bug in slider-crank :ref:`transmission<geTransmission>`. The bug was introduced in 3.0.0.
- Fixed a bug in flex texture coordinates that prevented the correct allocation of textures in mjModel.
13. Fixed several bugs related to connect and weld constraints with site semantics (fixes :github:issue:`2179`, reported
by :github:user:`yinfanyi`). The introduction of site specification to connects and welds in 3.2.3 conditionally
changed the semantics of `mjData.eq_obj1id` and `mjData.eq_obj2id`, but these changes were not properly propagated in
several places leading to incorrect computations of constraint inertia, readings of affected force/torque sensors and
runtime enabling/disabling of such constraints.
14. Fixed a bug in slider-crank :ref:`transmission<geTransmission>`. The bug was introduced in 3.0.0.
15. Fixed a bug in flex texture coordinates that prevented the correct allocation of textures in mjModel.
Documentation
^^^^^^^^^^^^^
- Function headers in the :doc:`API reference <../APIreference/APIfunctions>` now link to their source definitions
in GitHub.
16. Function headers in the :doc:`API reference <../APIreference/APIfunctions>` now link to their source definitions
in GitHub.
Version 3.2.4 (Oct 15, 2024)
----------------------------