7/24/06
PD control works well with ODE now
Added saving session capabilities
Added capsule collision geometry
Added splines
Added resititution parameters for skeletons
Many stability fixes


3/25/06
Better PD control using Ball joints.
Ball joint interface on ArticulatedObject GUI.

3/23/06
Some speed improvements by calling multmatrix4x4 instead of multarray.

3/20/06
Better ODE stability with controllers.
ODE now uses change in angle rate instead of angular velocity for dstate.
SphereCollision now corresponds to ArticulatedObject, allows disabling of adjacent links.
Automatic sphere collisions now use multiple spheres on each link.

3/17/06
Added IK standard chains to skeletons - arms, legs, head, arms with body

3/5/06
Added ODECollision plugin. Uses cube and sphere collisions for ODE simulated objects.

3/3/06
Better defaults for sim display.
Simulation no longer updates slider, rather valueinput.
Simulation speed improvements.
Added luxo-like controllers as tutorial.
More cleanup of unused variables.

3/2/06
Motion player rendering fixes.
Sphere and plane default names now fixed during povray rendering.
Added more materials names to stock.txt file.

2/28/06
Bitmap renderer now defaults to .png. GUI allows choice of image formats.
Fixed mocap display in MocapPlayer.
Some cleanup of ArticulatedObject.

2/27/06
Added linux makefiles

2/13/06
Fixed display window for PosePDController.
Added normals display for Model.

2/8/06
Fixed a few bugs in LinearSkinning.
Added automatic limit calculation by using data in .bvh files.
Fixed ODE state from mocap.

2/1/06
Fixed sphere bounding box.
Better access to render controls from menu.
Material manager now shows proper material during first use.
Added clear functionality to command window.
Added history functionality (with arrow up and arrown down) to command window.

1/29/06
ASF/AMC can now be properly converted to ArticulatedObjects.

1/18/05
Fixed model. Models are now saved directly to the session directory.

1/13/05
Added props to ArticulatedObject. Geometries can now be attached to 
any link of an articulated object.

1/12/05
Save now creates other directory and saves all supplementary files there.

1/11/05
Added checkboxes to turn on/off record and playback mode for ArticulatedObjects.
Simulator reset only removes saved playback when indicated.
Added invert_matrix function.
Fixed problem with converting geometry to articulatedobjects automatically.

12/18/05
Mocap player now exports path rotations.
Other fixes to mocap player.
Added trajectory display to mocap player.

12/14/05
Fitview added again. Pressing 'f' will focus the scene.

12/13/05
Cube normals fixed.
Cleaned up display/refresh routine.
Views can now save wireframe mode.


12/11/05
Fixed persistence problem with geometry (transformation matrices not being properly saved).
Added basic persistence for MotionPlayer (characters still not saved, however).

12/10/05
Added top, right and front views to profile file.
ViewManager now properly sets the current view.

11/30/05
Fixed problem with writing playback animation when root joint is not XYZ.
Added EventManager to handle collision events.

11/29/05
Geometry now saves display format (solid, mesh, points)

11/22/05
Added Plugin User Guide - added details for ArticulatedObject.

11/11/05

Added ability to write ODE source code based on ArticulatedObject structure.


11/10/05

Made functional wireframe mode from views (in Model, Cube, Sphere, Plane).
Incorporated ball joint support into Articulated Object (from M. Neff)