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Refactor islands to be memory contiguous.

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PiperOrigin-RevId: 755803476
Change-Id: I41972b07e0d5ef5d0117c94f565b93367b87458b
This commit is contained in:
Yuval Tassa
2025-05-07 05:05:34 -07:00
committed by Copybara-Service
parent 449de73430
commit ecb769fc3a
30 changed files with 1742 additions and 1116 deletions
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doc/changelog.rst
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Changelog
=========
Version 3.3.2 (April 28, 2025)
Upcoming version (not yet release)
----------------------------------
General
^^^^^^^
- Refactored island implementation so that island data is memory-contiguous. This speeds up island processing in the
solver and clears the way for the addition of the Newton and PGS solvers (currently only CG is supported).
Version 3.3.2 (April 28, 2025)
------------------------------
MJX
^^^
1. Added inverse dynamics.