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Fixes to documentation:

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1. Cleaned up changelog, fixed some typos, removed nested admonitions.
2. Added missing documentation for `mjfResourceModified` function type.

PiperOrigin-RevId: 562859015
Change-Id: I34dc4f3131561cbe95be3127e6e318cc4b803a24
This commit is contained in:
Yuval Tassa
2023-09-05 12:35:41 -07:00
committed by Copybara-Service
parent 4929077211
commit ba66bd4f8b
3 changed files with 24 additions and 16 deletions
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doc/changelog.rst
+8 -14
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@@ -28,7 +28,8 @@ New features
- Added new SDF plugin for defining implicit geometries. The plugin must define methods computing an SDF and its
gradient at query points See the :ref:`documentation<exWriting>` for more details.
3. Added :ref:`mjThreadPool` and :ref:`mjTask` which allow for multi-threaded operations within MuJoCo engine pipeline.
3. Added :ref:`mjThreadPool` and :ref:`mjTask` which allow for multi-threaded operations within the MuJoCo engine
pipeline.
General
^^^^^^^
@@ -36,23 +37,16 @@ General
.. admonition:: Breaking API changes
:class: attention
4. Removed macros ``mjMARKSTACK`` and ``mjFREESTACK``.
4. Removed the macros ``mjMARKSTACK`` and ``mjFREESTACK``.
.. admonition:: Migration note
:class: note
These macros have been replaced by new functions :ref:`mj_markStack` and :ref:`mj_freeStack`. These functions
manages ``mjData`` stack frames in a fully encapsulated way (i.e. without having to introduce a local variable
at the call site).
**Migration:** These macros have been replaced by new functions :ref:`mj_markStack` and
:ref:`mj_freeStack`. These functions manage the :ref:`mjData stack<siStack>` in a fully encapsulated way (i.e.,
without introducing a local variable at the call site).
5. Changed the function :ref:`mj_stackAlloc` to allocate an arbitrary number of bytes, rather than in multiples of
``sizeof(mjtNum)``, and add an additional argument for specifying the alignment of the returned pointer.
``sizeof(mjtNum)``, and added an additional argument for specifying the alignment of the returned pointer.
.. admonition:: Migration note
:class: note
The old functionality for allocating ``mjtNum`` arrays is still available through a new function
:ref:`mj_stackAllocNum`.
**Migration:** The functionality for allocating ``mjtNum`` arrays is available via :ref:`mj_stackAllocNum`.
6. Renamed the ``nstack`` field in :ref:`mjModel` and :ref:`mjData` to ``narena``. Changed ``narena``, ``pstack``,
and ``maxuse_stack`` to count number of bytes rather than number of :ref:`mjtNum` |-| s.