Changelog: v2.6.1

This page covers 2.6.0 and the 2.6.1 patch release that followed it. The binary package includes matching RaiSim and rayrai headers, libraries and CMake exports. Rebuild applications and Python extensions after updating: headers copied over an older package can compile against incompatible object layouts.

Tendons

  • raisim::Tendon routes a cable through attachment sites, pulleys and wrapping surfaces on single bodies, articulated systems and granular particles. The tendon system solves the length constraints each step. See Tendons.

  • World XML files load and save tendons. Worlds that used the older wire elements are migrated when they are loaded.

  • RayraiWindow and the TCP viewer draw each tendon route as instanced cylinders that follow the physics route, width, colour and enabled state.

TCP viewer

The viewer and its server protocol grew considerably; Rayrai TCP Viewer describes each feature.

  • Split panes. Each pane is a full viewer session with its own connection, camera and panels. The layout is saved.

  • Local world simulation. Drop a world XML onto a pane, or pass --simulate world.xml, to run the world in a child process that the pane connects to.

  • Recording.

    • MP4 recording through ffmpeg.

    • PNG sequences with Encode To Video.

    • Session record and replay.

    • Server-requested screenshots and videos (RaisimServer::requestSaveScreenshot, startRecordingVideo).

  • Live Signals. A channel picker, pinned objects and CSV export.

  • Scene editing. Spawn and delete objects, export the world, and pull bodies with a spring by Ctrl/Cmd-dragging.

  • Settings. A settings file, $HOME/.rayrai/settings.yaml, stores the layout and preferences. The left panel uses seven icon tabs.

  • API rename. The custom-client request struct was renamed from SimControlRequest to tcp_viewer::ClientRequest. There is no alias. Force commands sent through it are multiplied by the target body’s mass on the server.

  • Server port and request handling.

    • When the requested port is taken, RaisimServer::launchServer binds the next free port and warns; getPort() reports the actual port.

    • A malformed client request closes the connection.

2.6.1

  • Panes restored from a saved layout reconnect to their saved server.

  • Pane dividers no longer draw over popup menus or take their clicks.

  • Windows installer fixes.