DART v6.13.2

• Tested Platforms

  • Linux
    • Ubuntu 22.04 LTS on amd64 / GCC 11.2 / amd64
    • Ubuntu 24.04 LTS on amd64 / GCC 13.2 / amd64
  • macOS 12 (Monterey) / AppleClang 14 / amd64
  • Windows / MSVC 19.38 / amd64

• Build

  • Fixed build with GCC >= 13: #1793

DART 6.13.1

DART 6.13.1 (2024-01-04)

• Tested Platforms

  • Ubuntu Focal on amd64 / GCC 9.4 / amd64
  • Ubuntu Jammy on amd64 / GCC 11.3 / amd64
  • macOS 12 (Monterey) / Clang 14 / amd64
  • Windows / MSVC 19.37 / amd64

• Build

  • Fixed build with urdfdom 4.0.0: #1779
  • Fixed invalid array access in moving skeleton subtree: #1778

• Dynamics

  • Fixed joint not recovering after reaching position limits in servo mode: #1774

DART 6.13.0

DART 6.13.0 (2022-12-31)

• Supported Platforms

  • Ubuntu Focal on amd64 / GCC 9.3 / amd64
  • Ubuntu Jammy on amd64 / GCC 11.2 / amd64
  • macOS 12 (Monterey) / Clang 13 / amd64
  • Windows / Microsoft Visual Studio 2019 / amd64

• Dependency

  • Added required dependencies: fmt
  • Added optional dependencies: spdlog
  • Removed required dependencies: Boost

• Build

  • Dropped supporting FCL < 0.5: #1647

• Common

  • Added Castable class: #1634
  • Added spdlog support as underlying logging framework: #1633
  • Added custom memory allocators: #1636, #1637, #1639, #1645, #1646
  • Added Stopwatch class to replace Timer: #1638
  • Removed Boost dependency: #1648, #1651

• Collision Detection

  • Updated to use convex mesh of Bullet when possible: #1664, #1667

• Dynamics

  • Fixed setResitutionCoeff() calling setFrictionCoeff(): #1677
  • Made inertial warnings optional when setting tensor: #1672
  • Added deep copy for shapes: #1612
  • Added iterator methods to container-like classes: #1644
  • Fixed grouping of constraints: #1624, #1628
  • Fixed issue with removing skeletons without shapes: #1625
  • Added support for custom contact surface handlers: #1626

• GUI

  • Fixed depth testing for transparent objects: #1643
  • Added depth rendering mode: #1652

DART 6.12.2

• Build

  • Fixed build with urdfdom 3.1.0 on Windows: #1675

DART 6.12.1

• Build

  • Fixed bullet header include: #1620

• dartpy

  • Added Python bindings for Joint::getWrenchTo{Child|Parent}BodyNode: #1621

DART 6.12.0

• API Breaking Changes

  • DART 6.12.0 and later require compilers that support C++17: #1600
    • Increased minimum CMake version to 3.10.2
    • Increased minimum compiler versions to GCC 7.3.0, Clang 6.0, MSVC 16.0
    • Dropped Ubuntu Xenial (16.04 LTS) support

• Build

  • Remove DART_BUILD_DARTPY option: #1600

• Dynamics

  • Added joint force/torque getter: #1616

• Parsers

  • Added default options to DartLoader for missing properties in URDF files: #1605
  • Allowed SdfParser to set default root joint type: #1617

• GUI

  • Updated ImGui to 1.84.2: #1608

• dartpy

  • Added Python bindings for ResourceRetriever and SdfParser: #1610

DART 6.11.1

• Dynamics

  • Fixed incorrect LCP construction in JointConstraint for multi-DOFs joints : #1597

DART 6.11.0

• Math

  • Added Mesh, TriMesh, and Icosphere classes: #1579

• Collision

  • Fixed incorrect group-group collision checking for BulletCollisionDetector: #1585, #717

• Dynamics

  • Fixed servo motor doesn't respect joint position limits: #1587

• GUI

  • Fixed incorrect MultiSphereConvexHull rendering: #1579
  • Use GLVND over the legacy OpenGL libraries: #1584

• Build and testing

  • Add DART_ prefix to macros to avoid potential conflicts: #1586

DART 6.10.1

• Dynamics

  • Fixed inertia calculation of CapsuleShape: #1561

• GUI

  • Changed to protect OpenGL attributes shared by ImGui and OSG: #1558
  • Changed to set backface culling by default: #1559

• dartpy

  • Added Python binding for BodyNode::getBodyForce(): #1563

DART 6.10.0

• 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