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DART 6.19.3

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@jslee02 jslee02 released this 27 Jun 20:48
v6.19.3
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DART 6.19.3 is a patch release on the DART 6 LTS line. It hardens contact
handling against invalid geometry and silences an fmt 12.2 deprecation warning
that leaked through DART's logging headers, both addressing issues reported
through gz-physics. It also recovers from two upstream toolchain regressions,
restoring the Linux Python wheels and compilation on the latest Clang.

Simulation

  • Reject invalid shape geometry and non-finite contacts instead of crashing.
    BoxShape, CylinderShape, CapsuleShape, EllipsoidShape, ConeShape,
    and PyramidShape now reject non-finite (NaN/Inf) or non-positive dimensions,
    matching SphereShape, and ConstraintSolver drops any contact whose point,
    normal, or penetration depth is non-finite before building a contact
    constraint. (#3117,
    gazebosim/gz-physics#1010)

Build

  • Stop an fmt 12.2 deprecation warning from leaking out of DART's header-only
    logging; DART now pre-formats the message and hands spdlog a ready-made
    string. (#3201,
    gazebosim/gz-physics#1018)
  • Restore the Linux manylinux Python wheels by capping the build-time CMake
    below 4.3.4 (4.3.4 stopped detecting freeglut3, dropping the dart-gui
    target the dartpy wheel links). (#3197)
  • Compile cleanly on the latest Clang by using the non-deprecated operator""_x
    spelling for the _pi/_rad/_deg literal suffixes.
    (#3197)

Full changelog: https://github.com/dartsim/dart/blob/v6.19.3/CHANGELOG.md - Milestone: https://github.com/dartsim/dart/milestone/101?closed=1

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