DART 6.0.0

Release Highlights

Common data structures

• Added Node, Aspect, State, and Properties: #713, #712, #708, #707, #659, #649, #645, #607, #598, #591, #531
• Added ShapeFrame and ShapeNode: #608

Kinematics features

• Added API for utilizing analytical inverse kinematics: #530, #463
• Improved ReferentialSkeleton to be able to add and remove BodyNodes and DegreeOfFreedoms to/from Groups freely: #557, #556, #548
• Changed Marker into Node: #692, #609

Dynamics features

• Added ServoMotorConstraint as a preliminary implementation for SERVO actuator type: #566
• Deprecated draw() functions of dynamics classes: #654

Collision detection features

• Added CollisionGroup and refactored CollisionDetector to be more versatile: #711, #704, #689, #631, #642, #20

Parsers

• Added back VSK parser: #602, #561, #254

GUI features

• Merged renderer namespace into gui namespace: #652, #589
• Moved osgDart under dart::gui namespace as dart::gui::osg: #651

Misc improvements and bug fixes

• Changed the extension of headers from .h to .hpp: #709, #693, #568
• Renamed directory name apps to examples: #685

Build and test issues

• Added CMake target for code coverage testing, and automatic reporting: #688, #687, #638, #632
• Modulized DART libraries: #706, #675, #652, #477
• Improved CMake script by splitting tutorials, examples, and tests into separate targets: #644

You find a more detailed list of improvements in our CHANGELOG.md.