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@jslee02 jslee02 released this 10 Apr 02:45
v6.10.0
bff098b
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  • Common

    • Removed use of boost::filesystem in public APIs: #1417
    • Changed Signal to remove connection when they're being disconnected: #1462

  • Collision

    • Added ConeShape support for FCLCollisionDetector: #1447
    • Fixed segfault from raycast when no ray hit: #1461
    • Added PyramidShape class: #1466

  • Kinematics

    • Added IkFast parameter accessors to IkFast class: #1396
    • Changed IkFast to wrap IK solutions into the joint limits for RevoluteJoint: #1452
    • Added option to specify reference frame of TaskSpaceRegion: #1548

  • Dynamics

    • Fixed friction and restitution of individual shapes in a body: #1369
    • Fixed soft body simulation when command input is not reset: #1372
    • Added joint velocity limit constraint support: #1407
    • Added type property to constrain classes: #1415
    • Allowed to set joint rest position out of joint limits: #1418
    • Added secondary friction coefficient parameter: #1424
    • Allowed to set friction direction per ShapeFrame: #1427
    • Fixed incorrect vector resizing in BoxedLcpConstraintSolver: #1459
    • Changed to increment BodyNode version when it's being removed from Skeleton: #1489
    • Changed to print warning only once from BulletCollisionDetector::collide/distance: #1546
    • Added force dependent slip: #1505

  • GUI

    • Fixed memory leaks from dart::gui::osg::Viewer: #1349
    • Added point rendering mode to PointCloudShape: #1351, #1355
    • Updated ImGui to 1.71: #1362
    • Updated ImGui to 1.79: #1498
    • Fixed refresh of LineSegmentShapeNode: #1381
    • Fixed OSG transparent object sorting: #1414
    • Added modifier key support to ImGuiHandler: #1436
    • Fixed mixed intrinsic and extrinsic camera parameters in OpenGL projection matrix: #1485
    • Enabled mouse middle and right buttons in ImGuiHandler: #1500

  • Parser

    • Allowed parsing SDF up to version 1.6: #1385
    • Fixed SDF parser not creating dynamics aspect for collision shape: #1386
    • Added root joint parsing option in URDF parser: #1399, #1406
    • Enabled URDF parser to read visual and collision names: #1410
    • Added (experimental) MJCF parser: #1416

  • dartpy

    • Added raycast option and result: #1343
    • Added GUI event handler: #1346
    • Added shadow technique: #1348
    • Added findSolution and solveAndApply to InverseKinematics: #1358
    • Added InteractiveFrame and ImGui APIs: #1359
    • Added bindings for Joint::getTransformFrom{Parent|Child}BodyNode(): #1377
    • Added bindings for BodyNode::getChild{BodyNode|Joint}(): #1387
    • Added bindings for Inertia: #1388
    • Added bindings for getting all BodyNodes from a Skeleton: #1397
    • Added bindings for background color support in osg viewer: #1398
    • Added bindings for BallJoint::convertToPositions(): #1408
    • Fixed typos in Skeleton: #1392
    • Fixed enabling drag and drop for InteractiveFrame: #1432
    • Added bindings for point cloud and contact retrieval: #1455
    • Fixed TypeError from dartpy.dynamics.Node.getBodyNodePtr(): #1463
    • Added pybind/eigen.h to DistanceResult.cpp for read/write of eigen types: #1480
    • Added bindings for adding ShapeFrames to CollisionGroup: #1490
    • Changed dartpy install command to make install-dartpy: #1503
    • Added bindings for CollisionFilter, CollisionGroup, and Node: #1545
    • Added bindings for TaskSpaceRegion: #1550

  • Build and testing

    • Fixed compiler warnings from GCC 9.1: #1366
    • Replaced M_PI with dart::math::constantsd::pi(): #1367
    • Enabled octomap support on macOS: #1078
    • Removed dependency on Boost::regex: #1412
    • Added support new if() IN_LIST operator in DARTConfig.cmake: #1434
    • Updated Findfcl.cmake to support FCL 0.6: #1441
    • Added gtest macros for Eigen object comparisons: #1443
    • Removed gccfilter: #1464
    • Allowed to set CMAKE_INSTALL_PREFIX on Windows: #1478
    • Enforced to use OpenSceneGraph 3.7.0 or greater on macOS Catalina: #1479
    • Fixed compatibility with clang-cl: #1509
    • Fixed MSVC linking for assimp and fcl: #1510
    • Fixed AspectWithState-relate compile error on Windows: #1528
    • Made dart.pc relocatable: #1529
    • Added CI for multiple Linux platforms: arm64 and ppc64le: #1531
    • Fixed Aspect/Composite-relate tests on Windows/MSVC: #1541, #1542
    • Added DART_SKIP_<dep>_advanced option: #1529
    • Replaced OpenGL dependency variables with targets: #1552

  • Documentation

    • Updated tutorial documentation and code to reflect new APIs: #1481
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