v0.19.0

[msz-rai]

[0.19.0] 27 September 2024

Added

• Added skeleton animation (mesh skinning) performed on GPU
  • Added API call to assign bone weights to the mesh
    • rgl_mesh_set_bone_weights
  • Added API call to assign restposes to the mesh
    • rgl_mesh_set_restposes
  • Added API call to set the current pose of the given Entity in world coordinates
    • rgl_entity_set_pose_world
• Added multi-return outputs
  • Multi-return point clouds can be post-processed and outputted by RGL
  • Added more return types supported (second, strongest, second strongest)
  • Added API call to configure return mode
    • rgl_node_raytrace_configure_return_mode
• Added support for ROS 2 Jazzy

Changed

• Changed API calls for handling animations resulted from external animation system
  • Removed API call to update vertices of the mesh
    • rgl_mesh_update_vertices
  • Added API call to update vertices of the entity
    • rgl_entity_apply_external_animation
  • In current implementation, meshes that are animated can be shared between entities
    • Previously, such meshes must be duplicated because vertices were updated in the mesh object
    • Now, the entity holds its copy of animated vertices
• Renamed API call for setting transform of the entity
  • rgl_entity_set_pose -> rgl_entity_set_transform
  • Pose is considered as set of skeleton bones transforms

Fixed

• Fixed error message from yield node when trying to get field data that was not requested

Removed

• Removed API call to switch between return modes:
  • rgl_node_multi_return_switch
  • Replaced by rgl_node_raytrace_configure_return_mode

---

This discussion was created from the release v0.19.0.