DART 6.13.0

DART 6.13.0 (2022-12-31)

• Supported Platforms

  • Ubuntu Focal on amd64 / GCC 9.3 / amd64
  • Ubuntu Jammy on amd64 / GCC 11.2 / amd64
  • macOS 12 (Monterey) / Clang 13 / amd64
  • Windows / Microsoft Visual Studio 2019 / amd64

• Dependency

  • Added required dependencies: fmt
  • Added optional dependencies: spdlog
  • Removed required dependencies: Boost

• Build

  • Dropped supporting FCL < 0.5: #1647

• Common

  • Added Castable class: #1634
  • Added spdlog support as underlying logging framework: #1633
  • Added custom memory allocators: #1636, #1637, #1639, #1645, #1646
  • Added Stopwatch class to replace Timer: #1638
  • Removed Boost dependency: #1648, #1651

• Collision Detection

  • Updated to use convex mesh of Bullet when possible: #1664, #1667

• Dynamics

  • Fixed setResitutionCoeff() calling setFrictionCoeff(): #1677
  • Made inertial warnings optional when setting tensor: #1672
  • Added deep copy for shapes: #1612
  • Added iterator methods to container-like classes: #1644
  • Fixed grouping of constraints: #1624, #1628
  • Fixed issue with removing skeletons without shapes: #1625
  • Added support for custom contact surface handlers: #1626

• GUI

  • Fixed depth testing for transparent objects: #1643
  • Added depth rendering mode: #1652