DART 6.9.2

• Dynamics

  • Allowed constraint force mixing > 1: #1371

DART 6.9.1

• Collision

  • Added default constructor to RayHit: #1345

• dartpy

  • Updated build scripts for uploading dartpy to PyPI: #1341

DART 6.9.0

• Common

  • Deprecated custom make_unique in favor of std::make_unique: #1317

• Collision Detection

  • Added raycast query to BulletCollisionDetector: #1309

• Dynamics

  • Added safeguard for accessing Assimp color: #1313

• Parser

  • Changed URDF parser to use URDF material color when specified: #1295

• GUI

  • Added heightmap support to OSG renderer: #1293
  • Improved voxel grid and point cloud rendering performance: #1294
  • Fixed incorrect alpha value update of InteractiveFrame: #1297
  • Fixed dereferencing a dangling pointer in WorldNode: #1311
  • Removed warning of ImGuiViewer + OSG shadow: #1312
  • Added shape type and color options to PointCloudShape: #1314, #1316
  • Fixed incorrect transparency of MeshShape for MATERIAL_COLOR mode: #1315
  • Fixed incorrect PointCloudShape transparency: #1330
  • Improved voxel rendering by using multiple nodes instead of CompositeShape: #1334

• Examples and Tutorials

  • Updated examples directory to make dart::gui::osg more accessible: #1305

• dartpy

  • Switched to pybind11: #1307
  • Added grid visual: #1318
  • Added ReferentialSkeleton, Linkage, and Chain: #1321
  • Enabled WorldNode classes to overload virtual functions in Python: #1322
  • Added JacobianNode and operational space controller example: #1323
  • Removed static create() functions in favor of custom constructors: #1324
  • Added optimizer APIs with GradientDescentSolver and NloptSolver: #1325
  • Added SimpleFrame: #1326
  • Added basic inverse kinematics APIs: #1327
  • Added shapes and ShapeFrame aspects: #1328
  • Added collision APIs: #1329
  • Added DegreeOfFreedom and ShapeNode: #1332
  • Added constraint APIs: #1333
  • Added BallJoint, RevoluteJoint, joint properties, and chain tutorial (incomplete): #1335
  • Added all the joints: #1337
  • Added DART, Bullet, Ode collision detectors: #1339

DART 6.8.5

Changes

• Collision

  • Fixed handling of submeshes in ODE collision detector: #1336

Compilers Tested

• Linux

  • GCC 64-bit: 5.4.0, 7.3.0, 8.2.0
  • GCC 32-bit: 5.4.0

• macOS

  • AppleClang: 9.1.0, 10.0.0

DART 6.8.4

Changes

• GUI

  • Fixed crashing on exiting OSG + ImGui applications: #1303

Compilers Tested

• Linux

  • GCC 64-bit: 5.4.0, 7.3.0, 8.2.0
  • GCC 32-bit: 5.4.0

• macOS

  • AppleClang: 9.1.0, 10.0.0

DART 6.8.3

Changes

• Parser

  • Fixed VskParker returning incorrect resource retriever: #1300

• Build

  • Fixed building with pagmo's optional dependencies: #1301

Compilers Tested

• Linux

  • GCC 64-bit: 5.4.0, 7.3.0, 8.2.0
  • GCC 32-bit: 5.4.0

• macOS

  • AppleClang: 9.1.0, 10.0.0

DART 6.8.2

Changes

• Dynamics

  • Fixed BoxedLcpConstraintSolver is not API compatible with 6.7: #1291

• Build

  • Fixed building with FCL built without Octomap: #1292

Compilers Tested

• Linux

  • GCC 64-bit: 5.4.0, 7.3.0, 8.2.0
  • GCC 32-bit: 5.4.0

• macOS

  • AppleClang: 9.1.0, 10.0.0

DART 6.8.1

Changes

• Build System

  • Fixed invalid double quotation marks in DARTFindBoost.cmake: #1283
  • Disabled octomap support on macOS: #1284

Compilers Tested

• Linux

  • GCC 64-bit: 5.4.0, 7.3.0, 8.2.0
  • GCC 32-bit: 5.4.0

• macOS

  • AppleClang: 9.1.0, 10.0.0

DART 6.8.0

Changes

• Kinematics

  • Added findSolution() and solveAndApply() to InverseKinematics and HierarchicalIk classes and deprecated solve(~) member functions: #1266
  • Added an utility constructor to Linkage::Criteria to create sequence Linkage: #1273

• Dynamics

  • Fixed incorrect transpose check in Inertia::verifySpatialTensor(): #1258
  • Allowed BoxedLcpConstraintSolver to have a secondary LCP solver: #1265

• Simulation

  • The LCP solver will be less aggressive about printing out unnecessary warnings: #1238
  • Fixed not copying constraints in World::setConstraintSolver(): #1260

• Collision Detection

  • The BodyNodeCollisionFilter will ignore contacts between immobile bodies: #1232

• Planning

  • Fixed linking error of FLANN by explicitly linking to lz4: #1221

• Python

  • Added (experimental) Python binding: #1237

• Parsers

  • Changed urdf parser to warn if robot model has multi-tree: #1270

• GUI

  • Updated ImGui to 1.69: #1274
  • Added VoxelGridShape support to OSG renderer: #1276
  • Added PointCloudShape and its OSG rendering: #1277
  • Added grid visual to OSG renderer: #1278, #1280

• Build System

  • Changed to use GNUInstallDirs for install paths: #1241
  • Fixed not failing for missing required dependencies: #1250
  • Fixed attempting to link octomap when not imported: #1253
  • Fixed not defining boost targets: #1254

Compilers Tested

• Linux

  • GCC 64-bit: 5.4.0, 7.3.0, 8.2.0
  • GCC 32-bit: 5.4.0

• macOS

  • AppleClang: 9.1.0, 10.0.0

DART 6.7.3

Changes

• Dynamics

  • Fixed Skeleton::setState(): #1245

Compilers Tested

• Linux

  • GCC (C++11): 5.4.0, 7.3.0, 8.2.0

• Linux (32-bit)

  • GCC (C++11): 5.4.0

• macOS

  • AppleClang (C++11): 9.1.0