InformationIsKey

Every tactician will tell, information is key! So why would biorbd hides information from you? That is a big question. No hiding anymore. Unleash the power of being well inform on where you are from for both version of biorbd and bioMod file opened.

But remember, with great power comes great responsability

BigWindows

Windows allows for big files, but only if that option is given.

TestedCasADillas

Ever wonder if that CasADillas was good or bad? Out-of-date? Don't worry no more. The CasADi backend is now as fully tested as the Eigen3 backend.

So eat that CasADillas without fear!

QuessaDit

What did you say? I said CasADi! Automatic differentiation!
You want to have the derivative of inverse dynamics? Got it! You want to have derivative of forward dynamics? Got it too! Actually, you can have the derivative of any function within biorbd, just compile it with the great CasADi tag :)

Have a look https://web.casadi.org/

BeProudOfYourMass

Don't hide your mass anymore, like yourself.
biorbd doesn't hide its mass matrix anymore to Python!

KnowYourLimits

There are risks going blindly into the wild not knowing what you can handle! Knowing your personal limits allows to safely explore and understand the world, and maybe overpass these limits without getting hurt in the process!

biorbd now knows the limit of the GeneralizedCoordinates so the avatars can safely explore their virtual world without breaking their virtual bones.

Long live to the safe explorer

RotateMyPython

Sometime you have to pimp your snake so it doesn't cripple when it tries to fly by itself! With this release, Python can rotate and transrotate alone, no help, like a full grown snake of his own!

BeSafe

Do you want to be babysit? Honestly, I cannot decide for you... So now biorbd won't make that decision for you! you can turn on several assert if you want to be sure that the dimensions of the vector you use are right. This comes with lower performance though. So, as a full grown human, you can decide to live dangerously and turn off these helps. This comes with performance improvements, but risks of segmentation fault (Duh...)

So, which type of person are you? Fast or safe?

GoodOldC

Look forward, but never forget where you are from. Sometime you need low level stuff and Biorbd should give it to you. Now it does! The C interface has been revived and is now fully functional. Not a lot of function are actually interfaced, but at least they do work.

From past to future, let all of us work hand-in-hand!

Reborn

Getting old is great, getting young is even better! Biorbd has now the wisdom of a sage embodied is a brand new youth code.

This revamping of the code is a major rewrite of biorbd. I got rid of the legacy architecture to create a better one based on module, with the unfortunate adverse effect of completely breaking backward compatibility. On the bright side though, compiling biorbd is almost 3x faster, and the code itself is also twice as fast from the previous version.

So fasten your seat belt, make some minor changes to your code and get ready for a fast biorbding!