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Commits on Feb 13, 2021

• Implements discrete hydroelastic model approximation with TAMSI. (RobotLocomotion#14630)

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Commits on Nov 18, 2020

• Allegro with reflected inertia (RobotLocomotion#14204)

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Commits on Sep 16, 2020

• Introduce ContactSolver and MBP::set_contact_solver() (RobotLocomotion#13958)

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Commits on Sep 15, 2020

• Refactors TamsiContactResults --> ContactSolverResults (RobotLocomotion#14069)

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Commits on Aug 26, 2020

• Implements a LinearOperator class to be used by contact solvers. (RobotLocomotion#13911)

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Commits on Aug 3, 2020

• Fix format in TAMSIs exception message (RobotLocomotion#13802)

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Commits on Jul 28, 2020

• Introduce discrete contact pairs for agnostic treatment of discrete contact models (RobotLocomotion#13734)

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Commits on Jul 21, 2020

• Fixes sub-stepping update of fn0. (RobotLocomotion#13712)

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Commits on Jul 20, 2020

• Update TAMSI to consume fn0 instead of phi0. (RobotLocomotion#13696)

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Commits on Jul 17, 2020

• Implement a number of tests to verify CalcForceElementsContribution() includes gravity. (RobotLocomotion#13474)

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Commits on Jul 14, 2020

• Bug fix on workspace allocation by TAMSI. (RobotLocomotion#13676)

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Commits on Jul 2, 2020

• Implement BeamModel's scalar conversion constructor (RobotLocomotion#13615)

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Commits on May 29, 2020

• Allows calling MBP::set_penetration_allowance() pre-finalize (RobotLocomotion#13435)

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Commits on May 27, 2020

• Implements spatial velocity and acceleration ports (RobotLocomotion#13423)

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• Enable kinematics computations on models with zero dofs (RobotLocomotion#13405)

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Commits on May 26, 2020

• Migrating Jacobian tests (RobotLocomotion#13390)

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Commits on May 22, 2020

• Implements spatial velocity and acceleration ports (RobotLocomotion#13364)

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Commits on May 21, 2020

• Updates the developer notes of MBP::RegisterGeometry(). (RobotLocomotion#13014)

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  c3d4bde

Commits on May 20, 2020

• Updates rolling sphere demo configurability (RobotLocomotion#13349)

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Commits on May 16, 2020

• Removes dead code; IntegratorBase::InitializeAccuracy() (RobotLocomotion#12624)

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Commits on Apr 24, 2020

• Implements MBP::get_body_poses_output_port() (RobotLocomotion#13137)

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Commits on Mar 17, 2020

• Fix ABI::IsPhysicallyValid() to avoid false negatives. (RobotLocomotion#12879)

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Commits on Mar 12, 2020

• Documents conventions in HydroelasticContactInfo (RobotLocomotion#12806)

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Commits on Mar 9, 2020

• Update to use CBA in MBP::CalcTamsiResults() (RobotLocomotion#12838)

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  3809514

• Implements Composite Body Algorithm to compute the mass matrix (RobotLocomotion#12764)

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Commits on Mar 4, 2020

• Caches spatial acceleration bias Ab_WB and ABA bias Zb_Bo_W to improve performance of O(n) forward dynamics. (RobotLocomotion#12716)

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Commits on Feb 24, 2020

• Refactors MBT::CalcArticulatedBodyForceBiasCache() (RobotLocomotion#12750)

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• Fix catastrophic cancellation in point mass unit inertias (RobotLocomotion#12758)

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Commits on Feb 12, 2020

• Gets rid of accidental heap allocation within CalcArticulatedBodyForceBiasCache() (RobotLocomotion#12728)

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  130ddff

• Caches shift vector p_PoBo_W. (RobotLocomotion#12724)

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Commits on Jan 31, 2020

• Enable math::ComputeNumericalGradient() for scalar types T != double (RobotLocomotion#12629)

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Commits on Jan 29, 2020

• Introduces utility MakeSimulatorFromGflags (RobotLocomotion#12527)

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Commits on Jan 24, 2020

• Exclude z from MBP::get_state_output_port(). (RobotLocomotion#12619)

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Commits on Jan 23, 2020

• Fixes broken links to the minimum step size section in IntegratorBase. (RobotLocomotion#12625)

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Commits on Jan 14, 2020

• Adds C++17 structured binding support to AddMultibodyPlantSceneGraphResult (RobotLocomotion#12559)

  

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