dartsim/dart

📦 Collision

• Stabilize ODE capsule and cylinder resting contacts with a per-pair contact-history manifold (invalidated on sliding and on kinematic pose changes) so they no longer sink through the supporting surface: #2902, gazebosim/gz-physics#692

📦 Constraint

• Regularize rank-deficient closed-loop constraints with an additive Constraint Force Mixing floor on the `BallJointConstraint`/`WeldJointConstraint` loop-closure constraints, so non-axis-aligned closed kinematic chains stay enforced instead of drifting open: #2903, gazebosim/gz-physics#719
• Full changelog: https://github.com/dartsim/dart/blob/release-6.18/CHANGELOG.md

📋 Changes

• Collision
• Clamp the ODE heightfield extents, vertical scale, and bounds so an extreme `HeightmapShape` scale no longer aborts `dCollideHeightfield`: [#2894](https://github.com/dartsim/dart/pull/2894), [gazebosim/gz-physics#847](https://github.com/gazebosim/gz-physics/issues/847)
• Dynamics
• Validate `HeightmapShape` scale and height-field values, rejecting non-finite and non-positive inputs: [#2884](https://github.com/dartsim/dart/pull/2884), [gazebosim/gz-physics#847](https://github.com/gazebosim/gz-physics/issues/847)
• Reject non-finite mass and moment of inertia at the `Inertia` ingest boundary: [#2885](https://github.com/dartsim/dart/pull/2885), [gazebosim/gz-physics#854](https://github.com/gazebosim/gz-physics/issues/854)
• Initialize `Inertia` to a valid state before applying a rejected moment, and check only the consumed inertia entries: [#2898](https://github.com/dartsim/dart/pull/2898)
• Common
• Demote the duplicate-name auto-rename message to debug verbosity: [#2895](https://github.com/dartsim/dart/pull/2895), [gazebosim/gz-physics#725](https://github.com/gazebosim/gz-physics/issues/725)
• + 2 more

📋 Changes

• GUI
• Fix `RealTimeWorldNode` stalling when the viewer lags behind real time: [#2088](https://github.com/dartsim/dart/pull/2088)
• Collision
• Preserve the minimum pair distance in FCL distance queries: [#2243](https://github.com/dartsim/dart/pull/2243), [#1539](https://github.com/dartsim/dart/issues/1539)
• Fix plane collision handling for the Bullet and FCL backends: [#2246](https://github.com/dartsim/dart/pull/2246)
• Fix an FCL mesh contact regression: [#2258](https://github.com/dartsim/dart/pull/2258)
• Fix Bullet ellipsoid rolling by using primitive sphere/ellipsoid shapes: [#2274](https://github.com/dartsim/dart/pull/2274)
• Handle non-`Skeleton` `MetaSkeleton` subscriptions in `CollisionGroup` without crashing: [#2277](https://github.com/dartsim/dart/pull/2277)
• + 33 more

📋 Changes

• GUI
• Fix SEGV in ImFontAtlas::AddFontFromMemoryCompressedTTF when null pointer is passed as compressed font data: [#2516](https://github.com/dartsim/dart/issues/2516)
• Fix `ImGui::ColorPicker3`/`ColorPicker4` crashes when called without an active ImGui context or window: [#2668](https://github.com/dartsim/dart/issues/2668)
• Use modern ImGui modifier key names in the OSG ImGui handler for newer ImGui builds. ([#2526](https://github.com/dartsim/dart/pull/2526))
• Constraint
• Ignore malformed contacts with null collision objects instead of dereferencing them while creating `ContactConstraint`: [#2669](https://github.com/dartsim/dart/issues/2669)
• Hide bundled ImGui internal formatting helpers from shared library exports: [#2671](https://github.com/dartsim/dart/issues/2671)
• Parsers
• + 13 more

📋 Changes

• Build
• Added support for assimp 6.x while maintaining backward compatibility with assimp 5.x: [#2510](https://github.com/dartsim/dart/pull/2510)
• Dynamics
• Reject non-finite transforms at Joint public API entry points and guard inertia propagation in kinematic joint variants: [#2497](https://github.com/dartsim/dart/pull/2497)
• Math
• Enhance verifyTransform to also reject infinity values (previously only checked NaN): [#2497](https://github.com/dartsim/dart/pull/2497)
• Optimizer
• Validate Problem and MultiObjectiveProblem dimension to prevent excessive allocation from huge inputs: [#2503](https://github.com/dartsim/dart/pull/2503)
• + 2 more

📋 Changes

• Constraint
• Fix slip compliance validation to silently handle the -1.0 sentinel value (meaning "use default") instead of logging spurious warnings: [gz-sim#3289](https://github.com/gazebosim/gz-sim/issues/3289)
• Dynamics
• Guard against non-finite articulated body computations from zero/epsilon mass or extreme spring values: [gz-physics#849](https://github.com/gazebosim/gz-physics/issues/849), [gz-physics#850](https://github.com/gazebosim/gz-physics/issues/850), [gz-physics#851](https://github.com/gazebosim/gz-physics/issues/851), [gz-physics#854](https://github.com/gazebosim/gz-physics/issues/854), [gz-physics#856](https://github.com/gazebosim/gz-physics/issues/856)

📋 Changes

• Constraint
• Fix crash when joint limits are invalid (lower > upper) by emitting a warning and skipping limit enforcement: [gz-physics#846](https://github.com/gazebosim/gz-physics/issues/846)
• Validate contact surface parameters to prevent LCP solver crashes: [#2435](https://github.com/dartsim/dart/pull/2435)
• Dynamics
• Validate SphereShape radius to prevent assertion failures with NaN/Inf/non-positive values: [#2441](https://github.com/dartsim/dart/pull/2441)
• Parsers
• Fix null pointer dereference in XmlHelpers getValue* functions: [#2429](https://github.com/dartsim/dart/pull/2429)

📋 Changes

• Physics
• Fix ODE box-cylinder contact stability with libccd: [#2389](https://github.com/dartsim/dart/pull/2389)
• Fix ODE cylinder mesh fallback on FreeBSD: [#2388](https://github.com/dartsim/dart/pull/2388)
• Parsers
• Fix URDF shape parsing on FreeBSD: [#2379](https://github.com/dartsim/dart/pull/2379)
• Tooling and Docs
• Add Alt Linux repro tasks: [#2381](https://github.com/dartsim/dart/pull/2381)
• Add FreeBSD VM repro patches: [#2374](https://github.com/dartsim/dart/pull/2374)
• + 2 more

📋 Changes

• Collision
• Fix Bullet double-precision includes on release-6.16: [#2334](https://github.com/dartsim/dart/pull/2334)
• Tooling and Docs
• Fix pixi ex example selection: [f716548](https://github.com/dartsim/dart/commit/f7165480d66)

📋 Changes

• Build
• Remove DART_BUILD_MODE_DEBUG guards to fix NDEBUG compilation: [#2326](https://github.com/dartsim/dart/pull/2326)
• Use package.xml version for dartpy packaging: [#2327](https://github.com/dartsim/dart/pull/2327)
• Tests
• Stabilize World::Cloning in asserts-enabled CI: [#2331](https://github.com/dartsim/dart/pull/2331)
• Tooling and Docs
• Cover asserts-enabled build and fix API docs PR ref: [#2330](https://github.com/dartsim/dart/pull/2330)
• Fix publish_dartpy workflow YAML: [#2329](https://github.com/dartsim/dart/pull/2329)
• + 4 more

🐛 Fixed

• Fix FreeListAllocator assertions when building without NDEBUG (e.g., Ubuntu 24.04 / GCC 13): [#2295](https://github.com/dartsim/dart/pull/2295)

📦 Highlights

• Servo joints now recover gracefully from hitting position limits, preventing the lock-ups reported in Gazebo/gz-sim (#2086).
• All remaining raw `assert` calls were replaced with `DART_ASSERT` to keep diagnostics consistent in release builds (#2117).
• Build fixes:
• pybind11 detection and assert include handling were hardened for pixi builds (#2118).
• Eigen guard backported so 3.4+ builds keep working on the release branch (#2108).
• New toggles let you opt into system Tracy, pybind11, and GoogleBenchmark as needed (#1911, #1907, #1904).
• Absolute install dir handling corrected for CMake exports (#2006).
• Tooling & docs:
• + 3 more

🧪 Tested Platforms

• Linux
• Ubuntu 22.04 LTS / GCC 11.4 / x86_64
• Ubuntu 24.04 LTS / GCC 13.2 / x86_64
• macOS 14 / Clang 15 / arm64
• Windows / MSVC 19.40 / x86_64

📦 Installation / Build

• See the README for package availability and build instructions. To build from source with pixi:
• ```bash
• pixi run build
• pixi run build-dartpy # optional: Python bindings
• pixi run test # C++ tests
• pixi run test-py # python/dartpy tests
• pixi run -e gazebo test-gz # gazebo compatibility test suite
• ```

📦 Thanks

• Thanks to everyone who reported issues, reviewed PRs, and helped chase down the joint-limit and pixi regressions. Enjoy 6.16.0!

📦 [DART 6.15.0 (2024-11-15)](https://github.com/dartsim/dart/milestone/77?closed=1)

• This is a simple maintenance release with updates to support newer dependency versions.
• Tested Platforms
• Linux
• Ubuntu 22.04 LTS / GCC 11.4 / x86_64
• Ubuntu 24.04 LTS / GCC 13.2 / x86_64
• macOS 14 / Clang 15 / arm64
• Windows / MSVC 19.40 / x86_64
• Build
• + 3 more

📦 [DART 6.14.5 (2024-09-08)](https://github.com/dartsim/dart/milestone/82?closed=1)

• Tested Platforms
• Linux
• Ubuntu 22.04 LTS / GCC 11.4 / x86_64
• Ubuntu 24.04 LTS / GCC 13.2 / x86_64
• macOS 14 / Clang 15 / arm64
• Windows / MSVC 19.40 / x86_64
• Fixed missing parentheses in config.hpp: [#1838](https://github.com/dartsim/dart/pull/1838)
• Allowed negative scale for MeshShape: [#1841](https://github.com/dartsim/dart/pull/1841)

📦 [DART 6.14.4 (2024-07-06)](https://github.com/dartsim/dart/milestone/81?closed=1)

• Tested Platforms
• Linux
• Ubuntu 22.04 LTS / GCC 11.4 / x86_64
• Ubuntu 24.04 LTS / GCC 13.2 / x86_64
• macOS 14 / Clang 15 / arm64
• Windows / MSVC 19.40 / x86_64
• Fixed GLUT dependency handling on Windows: [#1827](https://github.com/dartsim/dart/pull/1827)

📦 [DART 6.14.3 (2024-07-05)](https://github.com/dartsim/dart/milestone/80?closed=1)

• Tested Platforms
• Linux
• Ubuntu 22.04 LTS / GCC 11.4 / x86_64
• Ubuntu 24.04 LTS / GCC 13.2 / x86_64
• macOS 14 / Clang 15 / arm64
• Windows / MSVC 19.40 / x86_64
• Changed the default CMake option to DART_ENABLE_SIMD=OFF: [#1825](https://github.com/dartsim/dart/pull/1825)

📦 [DART 6.14.2 (2024-06-28)](https://github.com/dartsim/dart/milestone/79?closed=1)

• Tested Platforms
• Linux
• Ubuntu 22.04 LTS / GCC 11.4 / x86_64
• Ubuntu 24.04 LTS / GCC 13.2 / x86_64
• macOS 14 / Clang 15 / arm64
• Windows / MSVC 19.40 / x86_64
• Fixed version definitions: [#1820](https://github.com/dartsim/dart/pull/1820)

📦 [DART 6.14.1 (2024-06-26)](https://github.com/dartsim/dart/milestone/78?closed=1)

• Tested Platforms
• Linux
• Ubuntu 22.04 LTS / GCC 11.4 / x86_64
• Ubuntu 24.04 LTS / GCC 13.2 / x86_64
• macOS 14 / Clang 15 / arm64
• Windows / MSVC 19.40 / x86_64
• Included CTest for BUILD_TESTING option: [#1819](https://github.com/dartsim/dart/pull/1819)

📦 [DART 6.14.0 (2024-06-24)](https://github.com/dartsim/dart/milestone/73?closed=1)

• This release is mostly a maintenance update, including various CI updates and build fixes for recent development environment toolsets and dependencies.
• Tested Platforms
• Linux
• Ubuntu 22.04 LTS / GCC 11.4 / x86_64
• Ubuntu 24.04 LTS / GCC 13.2 / x86_64
• macOS 14 / Clang 15 / arm64
• Windows / MSVC 19.40 / x86_64
• Breaking Changes
• + 10 more

📋 Changes

• Tested Platforms
• Linux
• Ubuntu 22.04 LTS on amd64 / GCC 11.2 / amd64
• Ubuntu 24.04 LTS on amd64 / GCC 13.2 / amd64
• macOS 12 (Monterey) / AppleClang 14 / amd64
• Windows / MSVC 19.38 / amd64
• Build
• Fixed build with GCC >= 13: [#1793](https://github.com/dartsim/dart/pull/1793)

📦 [DART 6.13.1 (2024-01-04)](https://github.com/dartsim/dart/milestone/74?closed=1)

• Tested Platforms
• Ubuntu Focal on amd64 / GCC 9.4 / amd64
• Ubuntu Jammy on amd64 / GCC 11.3 / amd64
• macOS 12 (Monterey) / Clang 14 / amd64
• Windows / MSVC 19.37 / amd64
• Build
• Fixed build with urdfdom 4.0.0: [#1779](https://github.com/dartsim/dart/pull/1779)
• Fixed invalid array access in moving skeleton subtree: [#1778](https://github.com/dartsim/dart/pull/1778)
• + 2 more

📦 [DART 6.13.0 (2022-12-31)](https://github.com/dartsim/dart/milestone/69?closed=1)

• 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
• + 22 more

📋 Changes

• Build
• Fixed build with urdfdom 3.1.0 on Windows: [#1675](https://github.com/dartsim/dart/pull/1675)

📋 Changes

• Build
• Fixed bullet header include: [#1620](https://github.com/dartsim/dart/pull/1620)
• dartpy
• Added Python bindings for Joint::getWrenchTo{Child|Parent}BodyNode: [#1621](https://github.com/dartsim/dart/pull/1621)

📋 Changes

• API Breaking Changes
• DART 6.12.0 and later require compilers that support C++17: [#1600](https://github.com/dartsim/dart/pull/1600)
• Increased minimum CMake version to 3.10.2
• Increased minimum compiler versions to GCC 7.3.0, Clang 6.0, MSVC 16.0
• Dropped Ubuntu Xenial (16.04 LTS) support
• Build
• Remove DART_BUILD_DARTPY option: [#1600](https://github.com/dartsim/dart/pull/1600)
• Dynamics
• + 8 more

📋 Changes

• Dynamics
• Fixed incorrect LCP construction in JointConstraint for multi-DOFs joints : [#1597](https://github.com/dartsim/dart/pull/1597)

📋 Changes

• Math
• Added `Mesh`, `TriMesh`, and `Icosphere` classes: [#1579](https://github.com/dartsim/dart/pull/1579)
• Collision
• Fixed incorrect group-group collision checking for BulletCollisionDetector: [#1585](https://github.com/dartsim/dart/pull/1585), [#717](https://github.com/dartsim/dart/issues/717)
• Dynamics
• Fixed servo motor doesn't respect joint position limits: [#1587](https://github.com/dartsim/dart/pull/1587)
• GUI
• Fixed incorrect MultiSphereConvexHull rendering: [#1579](https://github.com/dartsim/dart/pull/1579)
• + 3 more

📋 Changes

• Dynamics
• Fixed inertia calculation of CapsuleShape: [#1561](https://github.com/dartsim/dart/pull/1561)
• GUI
• Changed to protect OpenGL attributes shared by ImGui and OSG: [#1558](https://github.com/dartsim/dart/pull/1558)
• Changed to set backface culling by default: [#1559](https://github.com/dartsim/dart/pull/1559)
• dartpy
• Added Python binding for BodyNode::getBodyForce(): [#1563](https://github.com/dartsim/dart/pull/1563)

📋 Changes

• Common
• Removed use of boost::filesystem in public APIs: [#1417](https://github.com/dartsim/dart/pull/1417)
• Changed Signal to remove connection when they're being disconnected: [#1462](https://github.com/dartsim/dart/pull/1462)
• Collision
• Added ConeShape support for FCLCollisionDetector: [#1447](https://github.com/dartsim/dart/pull/1447)
• Fixed segfault from raycast when no ray hit: [#1461](https://github.com/dartsim/dart/pull/1461)
• Added PyramidShape class: [#1466](https://github.com/dartsim/dart/pull/1466)
• Kinematics
• + 73 more

📋 Changes

• Added Ipopt >= 3.13 support: [#1506](https://github.com/dartsim/dart/pull/1506)