DART 6.15.0

DART 6.15.0 (2024-11-15)

This is a simple maintenance release with updates to support newer dependency versions.

• Tested Platforms

  • Linux
    • Ubuntu 22.04 LTS / GCC 11.4 / x86_64
    • Ubuntu 24.04 LTS / GCC 13.2 / x86_64
  • macOS 14 / Clang 15 / arm64
  • Windows / MSVC 19.40 / x86_64

• Build

  • Added ImGui 1.91.5 support: #1872
  • Added nlopt 2.9.0 support: #1875
  • Fixed imgui is not added as a transitive dependency: #1877

DART v6.14.5

DART 6.14.5 (2024-09-08)

• Tested Platforms

  • Linux
    • Ubuntu 22.04 LTS / GCC 11.4 / x86_64
    • Ubuntu 24.04 LTS / GCC 13.2 / x86_64
  • macOS 14 / Clang 15 / arm64
  • Windows / MSVC 19.40 / x86_64

• Fixed missing parentheses in config.hpp: #1838

• Allowed negative scale for MeshShape: #1841

v6.14.4

DART 6.14.4 (2024-07-06)

• Tested Platforms

  • Linux
    • Ubuntu 22.04 LTS / GCC 11.4 / x86_64
    • Ubuntu 24.04 LTS / GCC 13.2 / x86_64
  • macOS 14 / Clang 15 / arm64
  • Windows / MSVC 19.40 / x86_64

• Fixed GLUT dependency handling on Windows: #1827

DART 6.14.3

DART 6.14.3 (2024-07-05)

• Tested Platforms

  • Linux
    • Ubuntu 22.04 LTS / GCC 11.4 / x86_64
    • Ubuntu 24.04 LTS / GCC 13.2 / x86_64
  • macOS 14 / Clang 15 / arm64
  • Windows / MSVC 19.40 / x86_64

• Changed the default CMake option to DART_ENABLE_SIMD=OFF: #1825

DART 6.14.2

DART 6.14.2 (2024-06-28)

• Tested Platforms

  • Linux
    • Ubuntu 22.04 LTS / GCC 11.4 / x86_64
    • Ubuntu 24.04 LTS / GCC 13.2 / x86_64
  • macOS 14 / Clang 15 / arm64
  • Windows / MSVC 19.40 / x86_64

• Fixed version definitions: #1820

DART v6.14.1

DART 6.14.1 (2024-06-26)

• Tested Platforms

  • Linux
    • Ubuntu 22.04 LTS / GCC 11.4 / x86_64
    • Ubuntu 24.04 LTS / GCC 13.2 / x86_64
  • macOS 14 / Clang 15 / arm64
  • Windows / MSVC 19.40 / x86_64

• Included CTest for BUILD_TESTING option: #1819

DART v6.14.0

DART 6.14.0 (2024-06-24)

This release is mostly a maintenance update, including various CI updates and build fixes for recent development environment toolsets and dependencies.

• Tested Platforms

  • Linux
    • Ubuntu 22.04 LTS / GCC 11.4 / x86_64
    • Ubuntu 24.04 LTS / GCC 13.2 / x86_64
  • macOS 14 / Clang 15 / arm64
  • Windows / MSVC 19.40 / x86_64

• Breaking Changes

  • Removed planning component

• Build

  • Added Pixi support

• General

  • Added profile interface with Tracy backend support
  • Added benchmark setup, including boxes and kinematics benchmarks

• Dynamics

  • Allowed specifying mimic joint properties per DoF: #1752
  • Improved performance in constructing LCP problem

Full Changelog: v6.13.2...v6.14.0

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