Simbody v3.3.1 Release Notes
Release Date: 2014-01-22 // over 10 years ago-
🚀 This is the first release built for use in Open Source Robotic Foundation's Gazebo robot simulator and is also the version of Simbody that ships with OpenSim 3.2. It incorporates many fixes and enhancements prompted by the integration effort with OSRF, and a new Debian package builder for smooth incorporation into the Gazebo build.
- 👌 Improved matrix/vector documentation and reorganized source to break up large files (pr #70 #76 #77 #78 #87)
- 👌 Improved Force::Gravity to make it more flexible and avoid NaNs (pr #33)
- 🛠 Fix multiplyByMInv() to be usable in forces and controllers; now only requires state to be realized to position stage. (issue #29, pr #31)
- 🔒 Make MobilizedBody::lock() and lockAt() method immediately modify the state (issue #20, pr #23)
- ➕ Added Debian/Ubuntu package building (pr #24 #32 #52 #58 #59 #64)
- 👌 Improved TestMultibodyPerformance timing information (pr #22)
- 🛠 Fixed bug in MobilizedBody::isSameMobilizedBody() (issue #15, pr #16)
- ✅ Started using Travis-CI for continuous integration testing (pr #25)
- 👌 Improved DecorativeGeometry classes (issue #34, pr #35 #61)
- 👌 Improved installation, esp. Linux and OSX (issue #38 #65 #101, pr #64 #91 #102 #107)
- ➕ Added uninstall (issue #104, pr #106)
- Visualizer name changed to "simbody-visualizer" (issue #27, pr #53)
- ➕ Added torque-limited motor examples
- ➕ Added ability to lock/unlock mobilizers and disble/enable Motion objects on the fly, for flexible mixed forward/inverse dynamics
- Re-engineered Force::Gravity for speed and run time flexibility (for Gazebo)
- 👍 Extended Force::Gravity to support gravity compensation controllers
- 👍 Allow runtime changes to MobilityLinear{Spring,Damper} (for Gazebo)
- ➕ Added Theo Jansen Strandbeest example
- ✅ Ported some Gazebo regression tests to Simbody's regression suite.
- ➕ Added dirent.h support on Windows (for directory searching)
- 🐎 Many bug fixes, doxygen improvements, and small performance improvements
- ➕ Added Semi-Explicit Euler integrators, with and without error control (for Gazebo)
- ➕ Added O(n) methods for task space Jacobians