Saran Tunyasuvunakool
66 lines
2.6 KiB
ReStructuredText
66 lines
2.6 KiB
ReStructuredText
.. include:: includes/macros.rst
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.. include:: includes/roles.rst
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=========
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Changelog
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=========
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Version 2.1 (Oct. 18, 2021)
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---------------------------
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New features
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^^^^^^^^^^^^
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1. Keyframes now have ``mocap_pos`` and ``mocap_quat`` fields (mpos and quat attributes in the XML) allowing mocap
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poses to be stored in keyframes.
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2. New utility functions: ``mju_insertionSortInt`` (integer insertion sort) and ``mju_sigmoid`` (constructing a
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sigmoid from two half-quadratics).
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General
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^^^^^^^
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3. The pre-allocated sizes in the virtual file system (VFS) increased to 2000 and 1000, to allow for larger projects.
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#. The C structs in the ``mjuiItem`` union are now named, for compatibility.
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#. Fixed: ``mjcb_contactfilter`` type is ``mjfConFilt`` (was ``mjfGeneric``).
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#. Fixed: The array of sensors in ``mjCModel`` was not cleared.
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#. Cleaned up cross-platform code (internal changes, not visible via the API).
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#. Fixed a bug in parsing of XML ``texcoord`` data (related to number of vertices).
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#. Fixed a bug in `simulate.cc <https://github.com/deepmind/mujoco/blob/main/sample/simulate.cc>`_ related to ``nkey``
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(the number of keyframes).
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#. Accelerated collision detection in the presence of large numbers of non-colliding geoms (with ``contype==0 and
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conaffinity==0``).
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UI
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^^
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11. Figure selection type changed from ``int`` to ``float``.
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#. Figures now show data coordinates, when selection and highlight are enabled.
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#. Changed ``mjMAXUIMULTI`` to 35, ``mjMAXUITEXT`` to 300, ``mjMAXUIRECT`` to 25.
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#. Added collapsable sub-sections, implemented as separators with state: ``mjSEPCLOSED`` collapsed, ``mjSEPCLOSED+1``
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expanded.
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#. Added ``mjITEM_RADIOLINE`` item type.
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#. Added function ``mjui_addToSection`` to simplify UI section construction.
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#. Added subplot titles to ``mjvFigure``.
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Rendering
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^^^^^^^^^
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18. ``render_gl2`` guards against non-finite floating point data in the axis range computation.
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#. ``render_gl2`` draws lines from back to front for better visibility.
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#. Added function ``mjr_label`` (for text labels).
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#. ``mjr_render`` exits immediately if ``ngeom==0``, to avoid errors from uninitialized scenes (e.g. ``frustrum==0``).
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#. Added scissor box in ``mjr_render``, so we don't clear the entire window at every frame.
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License manager
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^^^^^^^^^^^^^^^
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23. Removed the entire license manager. The functions ``mj_activate`` and ``mj_deactivate`` are still there for
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backward compabitibily, but now they do nothing and it is no longer necessary to call them.
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#. Removed the remote license certificate functions ``mj_certXXX``.
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Earlier Versions
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----------------
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For changelogs of earlier versions please see `roboti.us <https://www.roboti.us/download.html>`_.
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