2.2.0

• removed AntTweakBar GUI
• added imgui
• added PLY export
• added documentation of scene file format
• updated pybind11
• cleanup mesh loading code
• added support of PLY files
• cleanup some code
• glfw fps limit
• fixed compilation on macOS thanks to Robin Rademacher
• updated Python examples
• added documentation files
• moved build directory for lib files
• fixed encoding of some source files
• updated numpy version
• fixed Python interface for function addFace

2.1.0

• added XPBD FEM constraint for deformable solids
• updated to Eigen 3.4.0

2.0.1

• extended and modified Python interface
• more Python examples
• bugfixes
• added Python binding
• cleaned up demos
• added XPBD distance constraint
• added XPBD isometric bending constraint
• added XPBD volume constraint
• added glfw
• removed freeglut and glew
• added flat shading

1.8.0

• added OBJ export
• added substepping
• updated GenericParameters
• bufixes
• fixed several compiler warnings
• removed MiniBall dependency
• update to Eigen 3.3.7

1.7.0

• added DamperJoint
• improved implementation of SliderJoint
• improved implementation of TargetPositionMotorSliderJoint
• improved implementation of TargetVelocityMotorSliderJoint
• improved implementation of HingeJoint
• improved implementation of TargetAngleMotorHingeJoint
• improved implementation of TargetVelocityMotorHingeJoint
• use XPBD to implement an implicit spring
• added distance joint for rigid bodies
• small optimizations
• fixed single precision build
• cleanup code
• using GenericParameters
• Crispin Deul added the implementation of his paper Deul, Kugelstadt, Weiler, Bender, "Direct Position-Based Solver for Stiff Rods", Computer Graphics Forum 2018 and a corresponding demo

1.6.0

• added collision detection for arbitrary meshes based on cubic signed distance fields
• added Discregrid library as external project to generate cubic signed distance fields
• added possibility to define motor target sequences in scene files
• added implementation of the paper Kugelstadt, Schoemer, "Position and Orientation Based Cosserat Rods", SCA 2016 and a corresponding demo
• update to Eigen 3.3.4

1.5.1

• added Timing class
• removed Boost dependency
• update to Eigen 3.2.9
• added support for x86 compilation (thanks to Josef Kohout)
• added implementation of "Position-Based Elastic Rods" paper and a corresponding demo
• fixed some problems with VS2015

1.5.0

• added SceneGenerator.py to generate new scenarios easily by simple Python scripting
• added scene loader demo
• added scene loader based on json
• added collision demos
• added collision detection based on distance functions
• added collision handling for rigid and deformable bodies
• high resolution visualization mesh can be attached to a deformable body
• added support for Mac OS X
• added shader support
• added automatic computation of inertia tensor for arbitrary triangle meshes
• added bunny model to chain demo
• added visualization mesh to rigid body
• added OBJ file loader
• update to Eigen 3.2.7
• added target velocity motor slider joint
• added target position motor slider joint
• added slider joint
• extended JointDemo

1.4.0

• extended JointDemo
• added TargetVelocityMotorHingeJoint
• added TargetAngleMotorHingeJoint
• made function names consistent
• fixed initialization of hinge joint coordinate system
• parallelized unified solver using graph coloring
• implemented unified solver for rigid bodies and deformable solids
• added documentation for generic constraints
• added generic constraint demo
• added generic constraint
• added coupling demo
• added ball joint which links a rigid body and a particle
• added universal joint
• improved hinge joint
• added documentation for position based fluids

1.3.0

• added some documentation
• cleaned up project
• added new Joint demo
• added HingeJoint
• added BallOnLineJoint
• separated deformable, fluid and rigid body dynamics in different classes
• cleaned up interface
• added doxygen files
• update to Eigen 3.2.5
• resolve compiler errors in Visual Studio 2010