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chore: update changelog

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Sébastien Crozet
2024-05-25 11:36:14 +02:00
committed by Sébastien Crozet
parent cdec395d09
commit 798406e00d
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CHANGELOG.md
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@@ -14,12 +14,21 @@
### Modified ### Modified
- The contact constraints regularization parameters have been changed from `erp/damping_ratio` to
`natural_frequency/damping_ratio`. This helps define them in a timestep-length independent way. The new variables
are named `IntegrationParameters::contact_natural_frequency` and `IntegrationParameters::contact_damping_ratio`.
- The `IntegrationParameters::normalized_max_penetration_correction` has been replaced
by `::normalized_max_corrective_velocity`
to make the parameter more timestep-length independent. It is now set to a non-infinite value to eliminate aggressive
"popping effects".
- The `Multibody::forward_kinematics` method will no longer automatically update the poses of the `RigidBody` associated - The `Multibody::forward_kinematics` method will no longer automatically update the poses of the `RigidBody` associated
to each joint. Instead `Multibody::update_rigid_bodies` has to be called explicitly. to each joint. Instead `Multibody::update_rigid_bodies` has to be called explicitly.
- The `Multibody::forward_kinematics` method will automatically adjust the multibody’s degrees of freedom if the root - The `Multibody::forward_kinematics` method will automatically adjust the multibody’s degrees of freedom if the root
rigid-body changed type (between dynamic and non-dynamic). It can also optionally apply the root’s rigid-body pose rigid-body changed type (between dynamic and non-dynamic). It can also optionally apply the root’s rigid-body pose
instead of the root link’s pose (useful for example if you modified the root rigid-body pose externally and wanted instead of the root link’s pose (useful for example if you modified the root rigid-body pose externally and wanted
to propagate it to the multibody). to propagate it to the multibody).
- Remove an internal special-case for contact constraints on fast contacts. The doesn’t seem necessary with the substep
solver.
## v0.19.0 (05 May 2024) ## v0.19.0 (05 May 2024)