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ODE 0.13 Release Notes

This is the 0.13 release of the Open Dynamics Engine.

Among the new features:

  • Stable, implicit gyroscopic forces (patch #185 by Joseph Cooper). Bodies with gyroscopic forces won't gain energy anymore.
  • New joint: transmission joint (patch #182 by Dimitris Papavasiliou).
  • Contacts now have rolling friction (patch #184 by Joseph Cooper).
  • Removed the need for defining dSINGLE/dDOUBLE; this is stored now in the generated ode/precision.h header.
  • New joint: Double Ball (AKA "distance joint").
  • New joint: Double Hinge.
  • Threaded execution support interface added (experimental).

Many bugs were fixed too:

  • Joint feedback forces application fixed in QuickStep implementation
  • Bug #89 by Luc: (dJointAddSliderForce() adds a zero force when the parent body is NULL)
  • Bug #88 by Luc: heightfield data assigned to a wrong field in dGeomHeightfieldSetHeightfieldData
  • Fixed cylinder AABB computation.
  • Removed ALLOCA calls from dHashSpace; it should not depend on stack size limits anymore.
  • Bugs in AMotor joint (patch #181)
  • Bugs in PU joint (patch #186)
  • Fixed issues reported in patches #151 and #22 (collisions with SAPSpace and QuadTreeSpace might not work because geometries list was misused in them).
  • Fixed zero comparisons in OPCODE to use relative error instead of absolute epsilon value (found by Bill Sellers)
  • Bug #80 by Georg Martius: better handling of capsule-box with deep penetrations.
  • Fixed zero-mu issues: now either mu or mu2 can be set to zero.

... and more!

After this release ODE is migrating from SourceForge + SVN to Bitbucket + Hg. Check the wiki for the updated instructions on accessing the Hg repository.

Source: Readme.md, updated 2014-02-04

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