Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog and this project adheres to Semantic Versioning.

Unreleased

Fixed

Adjust package version requirements.
Set the type and module entry in the package.

[0.0.4] - 2022-11-21

Added

Better error messages.
Typescript definition files.
Functions for setting draw through and color on IKRootsHelper.

Fixed

IKRootsHelper throwing an error when calling updateStructure.
IKRootsHelper throwing an error when calling dispose.
Support for prismatic joints when assigning the ik state to URDF joints.

Changed

Disabled SVD by default on Solver because it was causing solves to diverge.

[0.0.3] - 2020-12-31

Changed

Frame and Joint matrices from using Float64Array to using Float32Array.
Added matrixPool onto Solver and ChainSolver instances so they are not retained globally.
WorkerSolver now falls back to clone ArrayBuffers when SharedArrayBuffers are not available.

Fixed

useSVD option not be set onto Solver's ChainSolvers.
useSVD option will fall back to non SVD pseudoinverse if SVD fails to be computed.
Removed ability to set unmoveable DoF on Joints.
Removed unmoveable joints from solve.

[0.0.2] - 2020-12-28

Added

findRoots function for finding unique connected hierarchy roots from a set of frames.
useSVD option for Solvers.

Fixed

Joint rest pose not being applied correctly resulting in the solver often not converging.

Changed

Closure links are no longer added to the Joint children array.
All connected roots no longer have to be manually added to the IKRootsHelper or Solvers.
Renamed IKRootsHelper.update to IKRootsHelper.updateStructure.

[0.0.1] - 2020-10-17

Initial release