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Remove distance constraints.

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- `distance` constraints were not very useful and increased the contact buffer within the constraint solver, violating a core design principle. Therefore they have been removed.
- The enum value `mjEQ_DISTANCE` is retained, but errors will be thrown in the parser and engine if these constraints are selected.

PiperOrigin-RevId: 467050101
Change-Id: Ie72a07e4fe338eea5107004a9fc0f5e47eb0c3b7
This commit is contained in:
Yuval Tassa
2022-08-11 14:30:33 -07:00
committed by Copybara-Service
parent 396fdf00c3
commit c8ff7b3d34
14 changed files with 18 additions and 263 deletions
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doc/changelog.rst
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@@ -18,9 +18,13 @@ General
inaccurate. If this occurs, open the mesh in MeshLab or Blender and recalculate the faces.
- Added ``azimuth`` and ``elevation`` attributes to :ref:`visual/global<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.
- 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``.
Deleted/deprecated features
^^^^^^^^^^^^^^^^^^^^^^^^^^^
- Removed ``distance`` constraints.
Bug fixes
^^^^^^^^^
- Fixed rendering of some transparent geoms in reflection.