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Improve compiler-related documentation.

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PiperOrigin-RevId: 651827545
Change-Id: I85c12dc12967e49087c342445dbfa049c5cdbcdf
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Yuval Tassa
2024-07-12 11:04:20 -07:00
committed by Copybara-Service
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commit e13ddfa2ab
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@@ -5,65 +5,68 @@ Changelog
Upcoming version (not yet released)
-----------------------------------
New features
^^^^^^^^^^^^
1. Introduced a major new feature: **procedural model creation and editing**, using a new top-level data-structure
:ref:`mjSpec`. See the :doc:`Model Editing<programming/modeledit>` chapter for details.
Note that as of this release this feature is still in testing and subject to future breaking changes.
Fixes :github:issue:`364`.
General
^^^^^^^
.. admonition:: Breaking API changes
:class: attention
1. Removed deprecated ``mj_makeEmptyFileVFS`` and ``mj_findFileVFS`` functions. The constants ``mjMAXVFS`` and
2. Removed deprecated ``mj_makeEmptyFileVFS`` and ``mj_findFileVFS`` functions. The constants ``mjMAXVFS`` and
``mjMAXVFSNAME`` are also removed as they are no longer needed.
**Migration:** Use :ref:`mj_addBufferVFS` to copy a buffer into a VFS file directly.
2. Calls to :ref:`mj_defaultVFS` may allocate memory inside VFS, and the corresponding
3. Calls to :ref:`mj_defaultVFS` may allocate memory inside VFS, and the corresponding
:ref:`mj_deleteVFS` must be called to deallocate any internal allocated memory.
3. Deprecated :ref:`mju_rotVecMat` and :ref:`mju_rotVecMatT` in favor of :ref:`mju_mulMatVec3` and
4. Deprecated :ref:`mju_rotVecMat` and :ref:`mju_rotVecMatT` in favor of :ref:`mju_mulMatVec3` and
:ref:`mju_mulMatTVec3`. These function names and argument order are more consistent with the rest of the API.
The older functions have been removed from the Python bindings and will be removed from the C API in the next
release.
4. Removed the ``actuator_actdim`` callback from actuator plugins. They now have the ``actdim`` attribute, which
5. Removed the ``actuator_actdim`` callback from actuator plugins. They now have the ``actdim`` attribute, which
must be used with actuators that write state to the ``act`` array. This fixed a crash which happend when
keyframes were used in a model with stateful actuator plugins. The PID plugin will give an error when the wrong
value of actdim is provided.
5. The :ref:`VFS<Virtualfilesystem>` implementation has been rewritten in C++ and is now considerably more efficient in
6. Added :ref:`attach<body-attach>` meta-element to MJCF, which allows :ref:`attaching<meAttachment>` a subtree from a
different model to a body in the current model.
7. The :ref:`VFS<Virtualfilesystem>` implementation has been rewritten in C++ and is now considerably more efficient in
speed and memory footprint.
6. Added a new API for :doc:`procedural model manipulation<programming/modeledit>`. Fixes :github:issue:`364`.
Still missing:
- Detailed documentation.
.. youtube:: ZXBTEIDWHhs
:align: right
:width: 240px
7. Add :ref:`attach<body-attach>` meta-element to MJCF, which allows attaching a model to a body.
8. Added support for orthographic cameras. This is available for both fixed cameras and the free camera, using the
:ref:`camera/orthographic<body-camera-orthographic>` and :ref:`global/orthographic<visual-global-orthographic>`
attributes, respectively.
9. Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's convex hull.
10. Added :ref:`mj_setKeyframe` for saving the current state into a model keyframe.
11. Added support for ``ball`` joints in the URDF parser ("spherical" in URDF).
12. Deprecated :ref:`mju_rotVecMat` and :ref:`mju_rotVecMatT` in favor of :ref:`mju_mulMatVec3` and
:ref:`mju_mulMatTVec3`. These functions names and argument ordering are more consistent with the rest of the API.
13. Replaced ``mjUSEDOUBLE`` which was previously hard-coded in
12. Replaced ``mjUSEDOUBLE`` which was previously hard-coded in
`mjtnum.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`__
with the build-time flag ``mjUSESINGLE``. If this symbol is not defined, MuJoCo will use double-precision floating
point, as usual. If ``mjUSESINGLE`` is defined, MuJoCo will use single-precision floating point. See :ref:`mjtNum`.
Relatedly, fixed various type errors that prevented building with single-precision.
14. Quaternions in ``mjData->qpos`` and ``mjData->mocap_quat`` are no longer normalized in-place by
13. Quaternions in ``mjData->qpos`` and ``mjData->mocap_quat`` are no longer normalized in-place by
:ref:`mj_kinematics`. Instead they are normalized when they are used. After the first step, quaternions in
``mjData->qpos`` will be normalized.
15. Mesh loading in the compiler, which is usually the slowest part of the loading process, is now multi-threaded.
14. Mesh loading in the compiler, which is usually the slowest part of the loading process, is now multi-threaded.
MJX
~~~
16. Added support for :ref:`elliptic friction cones<option-cone>`.
17. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
18. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
15. Added support for :ref:`elliptic friction cones<option-cone>`.
16. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
17. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
.. youtube:: P83tKA1iz2Y
@@ -72,17 +75,17 @@ MJX
Simulate
^^^^^^^^
19. Added improved tutorial video.
20. Improved the Brownian noise generator.
21. Now displaying model load times if they are longer than 0.25 seconds.
18. Added improved tutorial video.
19. Improved the Brownian noise generator.
20. Now displaying model load times if they are longer than 0.25 seconds.
Python bindings
^^^^^^^^^^^^^^^
22. Fixed a memory leak when using ``copy.deepcopy()`` on a ``mujoco.MjData`` instance (:github:issue:`1572`).
21. Fixed a memory leak when using ``copy.deepcopy()`` on a ``mujoco.MjData`` instance (:github:issue:`1572`).
Bug fixes
^^^^^^^^^
23. Fix an issue where ``mj_copyData`` (or ``copy.copy()`` in the Python bindings) was not copying contact information
22. Fix an issue where ``mj_copyData`` (or ``copy.copy()`` in the Python bindings) was not copying contact information
correctly (:github:issue:`1710`).
Version 3.1.6 (Jun 3, 2024)