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DART 6.17.0

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@jslee02 jslee02 released this 04 Jun 13:12
v6.17.0
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DART 6.17.0 is a maintenance release on the DART 6 LTS compatibility line. It
backports bug fixes and additive improvements to the classic DART 6 API that were
made on main during DART 7 development, so that DART 6 and gz-physics users
receive them before the DART 7 clean break removes the legacy API from main.

  • GUI

    • Fix RealTimeWorldNode stalling when the viewer lags behind real time: #2088

  • Collision

    • Preserve the minimum pair distance in FCL distance queries: #2243, #1539
    • Fix plane collision handling for the Bullet and FCL backends: #2246
    • Fix an FCL mesh contact regression: #2258
    • Fix Bullet ellipsoid rolling by using primitive sphere/ellipsoid shapes: #2274
    • Handle non-Skeleton MetaSkeleton subscriptions in CollisionGroup without crashing: #2277
    • Stabilize FCL contact normals and make collision ordering deterministic: #2282
    • Guard the body-node collision filter against missing body nodes: #2343
    • Add Contact accessors for the shape frame, shape node, and body node: #2245
    • Fix memory leaks and a use-after-free in the Bullet collision backend: #2101
    • Fix a Bullet collision-detection correctness issue: #2091
    • Fix ODE HeightmapShape visual/collision mismatch and a dangling-pointer bug: #2305

  • Constraint

    • Recover finite Dantzig LCP solutions instead of zeroing the result when only some entries are NaN: #2253

  • Dynamics

    • Compute BodyNode potential energy from the center of mass: #2224
    • Add BodyNode world-transform derivative APIs: #2131
    • Preserve Collada unit scaling in MeshShape: #2152
    • Add debug assertions for non-finite joint inputs: #2273
    • Emit collision-shape added/removed signals on shape changes: #2250
    • Deep-copy shapes when cloning skeletons: #2239, #896
    • Add PlanarJoint SE(2) conversion helpers: #2231
    • Fix joint impulse statefulness by moving impulse state into GenericJointState: #2308
    • Add a state-independent Joint::integratePositions overload: #2309
    • Validate negative physics parameters at runtime instead of asserting: #2431
    • Clear stale joint commands when the actuator type changes: #2098
    • Fix the FreeJoint world Jacobian translation: #2298

  • Parsers

    • Enforce SDF joint position limits when finite: #2232
    • Handle tiny/degenerate SDF inertial data and warn on missing <inertial>: #2284

  • Common

    • Fix Signal thread-safety regressions: #2181
    • Add StlAllocator::max_size and make deallocate noexcept: #2287
    • Fix Aspect lifecycle when an aspect is replaced: #2304
    • Make CloneableMap copy null-safe: #2358

  • Build

    • Prefer the prefix-local Vulkan loader for the ImGui example: #2085
    • Allow configuring (or disabling) the examples install destination: #2100
    • Register dart::utils parser sources correctly in CMake: #2314
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