DART 6.2.0

Release Highlights

Collision detection

• Added support of ODE collision detector: #861

GUI

• Added MotionBlurSimWindow: #840

You can find the complete list of changes in CHANGELOG.md.

DART 6.1.2

This is a bug fix release including:

• Fixed bug of ContactConstraint with kinematic joints: #809
• Fixed that ZeroDofJoint::getIndexInTree was called: #818

DART 6.1.1

This is a bug fix release including:

• Modified to build DART without SIMD options by default: #790
• Modified to build external libraries as separately build targets: #787
• Modified to export CMake target files separately per target: #786
• Updated lodepng up to version 20160501 : #791

DART 6.1.0

Release Highlights

Collision detection

• Added distance API: #744

Dynamics

• Added new shapes: sphere, capsule, cone, and multi-sphere: #770, #769, #745

GUI

• Added ImGui for 2D graphical interface: #781

Examples

• Added osgAtlasSimbicon and osgTinkertoy: #781

You can find the complete list of changes in CHANGELOG.md.

DART 6.0.0

Release Highlights

Common data structures

• Added Node, Aspect, State, and Properties: #713, #712, #708, #707, #659, #649, #645, #607, #598, #591, #531
• Added ShapeFrame and ShapeNode: #608

Kinematics features

• Added API for utilizing analytical inverse kinematics: #530, #463
• Improved ReferentialSkeleton to be able to add and remove BodyNodes and DegreeOfFreedoms to/from Groups freely: #557, #556, #548
• Changed Marker into Node: #692, #609

Dynamics features

• Added ServoMotorConstraint as a preliminary implementation for SERVO actuator type: #566
• Deprecated draw() functions of dynamics classes: #654

Collision detection features

• Added CollisionGroup and refactored CollisionDetector to be more versatile: #711, #704, #689, #631, #642, #20

Parsers

• Added back VSK parser: #602, #561, #254

GUI features

• Merged renderer namespace into gui namespace: #652, #589
• Moved osgDart under dart::gui namespace as dart::gui::osg: #651

Misc improvements and bug fixes

• Changed the extension of headers from .h to .hpp: #709, #693, #568
• Renamed directory name apps to examples: #685

Build and test issues

• Added CMake target for code coverage testing, and automatic reporting: #688, #687, #638, #632
• Modulized DART libraries: #706, #675, #652, #477
• Improved CMake script by splitting tutorials, examples, and tests into separate targets: #644

You find a more detailed list of improvements in our CHANGELOG.md.

DART 4.3.5

• Fixed incorrect applying of joint constraint impulses (backported from 6.0.0) [#578]

DART 5.1.1

• Added bullet dependency to package.xml [#523]
• Improved handling of missing symbols of Assimp package [#542]
• Improved travis-ci build log for Mac [#529]
• Fixed warnings in Function.cpp [#550]
• Fixed build failures on AppVeyor [#543]
• Fixed const qualification of ResourceRetriever [#534, #532]
• Fixed aligned memory allocation with Eigen objects [#527]
• Fixed copy safety for various classes [#526, #539, #524]

DART 5.1.0

• Added Frame::getTransform(withRespecTo, inCoordinatesOf) [#475, #471]
• Added convenience setters for generalized coordinates of FreeJoint [#470, #507]
• Added a mutex to Skeleton [#466]
• Added generic URIs support [#464, #517]
• Added End Effector, Inverse Kinematics, and osgDart [#461, #495, #502, #506, #514, #381, #381, #454, #478]
• Added initial position and initial velocity properties [#499]
• Added a package.xml file for REP-136 support [#446]
• Added Joint::isCyclic to mark SO(2) topology [#441]
• Added the SYSTEM flag to include_directories [#435]
• Added tutorials (http://dart.readthedocs.org/) [#504, #484, #423, #511]
• Improved sdf/urdf parser [#497, #485]
• Improved API documentation -- set the SHOW_USED_FILES tag to NO [#474]
• Improved Linkage and Chain Criteria [#443, #437]
• Improved Joint warning [#430]
• Fixed incorrect rotational motion of BallJoint and FreeJoint [#518]
• Fixed aligned memory allocation with Eigen objects [#513]
• Fixed segfault in Linkage::Criteria [#491, #489]
• Fixed CMake warnings [#483]
• Fixed build issues on Windows [#516, #509, #486, #482, #487]
• Fixed IpoptSolver bugs [#481]
• Fixed compilation warnings [#480, #469, #418]
• Fixed SEGFAULTs in DartLoader [#439]
• Removed old documents: dart-tutorial, programmingGuide [#515]
• Removed outdated packaging scripts [#456]

DART 5.0.2

• Fixed bug in Jacobian update notifications [#499, #500]

DART 5.0.1

• Improved app indexing for bipedStand and atlasSimbicon
• Added clipping command when it exceeds the limits
• Improved CollisionNode's index validity check
• Standardized warning messages for Joints
• Fixed bug in SDF parser -- correct child for a joint
• Fixed SDF parsing for single link model without joint
• Added missing virtual destructors to Properties in Entity and [Soft]BodyNode
• Limited maximum required version of Assimp less than 3.0~dfsg-4
• Fixed SEGFAULTs in DartLoader