Skip to content

DART 4.0.0
Compare
Choose a tag to compare
@jslee02 jslee02 released this 02 Jun 15:01
· 3856 commits to main since this release
v4.0
0a11ffc
  • 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
  • Improved performance of forward dynamics algorithm
  • Improved dynamics API for Skeleton and Joint
  • Improved constraint dynamics solver
  • Improved calculation of equations of motion using Featherstone algorithm
  • Improved optimizer interface and added nlopt solver
  • Fixed self collision bug
  • Fixed incorrect integration of BallJoint and FreeJoint
Assets 2
Loading