DART v4.0.0 Release Notes
Release Date: 2014-06-02 // almost 10 years ago-
- Added implicit joint spring force and damping force
- Added planar joint
- Added soft body dynamics
- Added computation of velocity and acceleration of COM
- Added bullet collision detector
- Pull request #156 🐎 1. Improved performance of forward dynamics algorithm
- Pull request #188
- Improved dynamics API for Skeleton and Joint
- Improved constraint dynamics solver
- Improved calculation of equations of motion using Featherstone algorithm
- Issue #85 ⚡️ 1. Improved optimizer interface and added nlopt solver
- Pull request #152 🛠 1. Fixed self collision bug
- Issue #125 🛠 1. Fixed incorrect integration of BallJoint and FreeJoint
- Issue #122
- Pull request #168