## Modia3D v0.12.2

[Diff since v0.12.1](v0.12.1...v0.12.2)

- Add Force Element PolygonalContactModel and tests
- Add Result Element infrastructure and Result Element ContactResult
- Bugfix: Correct parent Object3D torque calculation for Fix Joint with non-zero rotation
- Bugfix: Enable AnimationExport in case of no renderer available
- Bugfix: Enable position/orientation result signals independent of visualization/animation configuration
- Segmented Simulation: add flag `enableContactDetection` to action commands (`ActionAttach`, `ActionReleaseAndAttach`, `ActionRelease`, `ActionDelete`) to enable or disable collision handling for the whole model in the actual segment

**Merged pull requests:**
- Gh result elements (#123) (@GerhardHippmann)
- Enable AnimationExport in case of no renderer available (#125) (@GerhardHippmann)
- Fix Fix joint (#126) (@GerhardHippmann)
- An more tests (#127) (@AndreaNeumayr)
- Fix position/orientation results (#128) (@GerhardHippmann)
- change version number of MeshIO (#129) (@AndreaNeumayr)

**Closed issues:**
- Can't create json animation files on mac (#124)

## Modia3D v0.12.1

[Diff since v0.12.0](v0.12.0...v0.12.1)



**Merged pull requests:**
- use Julia 1.9.0 (#121) (@AndreaNeumayr)
- Release0.12.1 (#122) (@MartinOtter)

## Modia3D v0.12.0

[Diff since v0.11.2](v0.11.2...v0.12.0)


**Closed issues:**
- Examples throw error, don't seem to import in Three.js (#119)

**Merged pull requests:**
- Improve efficiency of FileMesh support point calculation (#118) (@GerhardHippmann)
- Release0.12.0 (#120) (@AndreaNeumayr)

Require Modia 0.9.3

Merge pull request #117 from ModiaSim/dae_mode

Fix issues with IDA()

Merge pull request #116 from ModiaSim/hidden_states

Object3D that is fixed or freely moving with respect to parent and other improvements.

## Modia3D v0.10.4

[Diff since v0.10.3](v0.10.3...v0.10.4)

Creation of Modia3D sysimage improved


**Merged pull requests:**
- Improved generation of sysimage (#113) (@MartinOtter)

## Modia3D v0.10.3

[Diff since v0.10.2](v0.10.2...v0.10.3)

- New script `Modia3D/create_Modia3D_sysimage.jl` to create a sysimage for a much faster startup
  (usage: see README.md file).

- New keyword `Scene(provideAnimationHistory=true)` in order to store animation data compactly during a simulation run.
  After `simulate!(instantiatedModel, ...)`, the animation data of a `Model3D(..)` can be retrieved as dictionary via the new 
  function `get_animationHistory(instantiatedModel, modelPathAsString)`

- Improvements of the MPR algorithm (which determines the distances between Object3Ds).


**Merged pull requests:**
- New function get_animationHistory(..) (#108) (@MartinOtter)
- An mpr improvements (#109) (@AndreaNeumayr)
- Mo preparations (#110) (@MartinOtter)
- Project.toml and Manifest.toml updated (#111) (@MartinOtter)
- create_Modia3D_sysimage.jl added (to generate a Modia3D sysimage) (#112) (@MartinOtter)

## Modia3D v0.10.2

[Diff since v0.10.1](v0.10.1...v0.10.2)

- Model3D(..) with no degrees of freedom is now supported (previously, an error was triggered).

- Massless solid is now supported (previously, an error was triggered if Solid(..) had zero mass).

- SolidMaterial, MassProperties, VisualMaterial in Solid(..) and VisualMaterial in Visual(..) improved to handle corner cases:
  - SolidMaterial=="" is treated as SolidMaterial = nothing
  - VisualMaterial=="" is treated as Shapes.VisualMaterial(), that is the default VisualMaterial.
  - massProperties==nothing && solidMaterial==nothing is treated as MassProperties(), that is as massless solid.

- Error message improved, if closed kinematic loop is detected. Especially, the names of all Object3Ds in the kinematic loop are printed.

- Error message improved, if no Scene is defined.

- solid(..., contactSphereRadius::Union{Nothing,FloatType}=xxx) improved:
  - changed to contactSphereRadius::Union{Nothing,Number} (e.g. Int is also allowed).
  - contactSphereRadius <= 0 is the same as contactSphereRadius = nothing.

- Removed keyword "path" from the docu of Prismatic, Revolute, FreeMotion, since not to be set by the user (path is set when calling Model3D(..) to store the absolute path name in the joint).

- New function `loadPalettes!`. Example:
  `Modia3D.loadPalettes!(solidMaterialPalette = "file1.json", contactPairMaterialPalette = "file2.json",
                         visualMaterialPalette = "file3.json", log=true)`
  to use the palettes from the provided files instead of the default palettes from `Modia3D/palettes/*.json`.


**Merged pull requests:**
- New function loadPalettes! (#104) (@MartinOtter)
- Add missing file (#105) (@MartinOtter)
- Improve corner cases and error messages (#106) (@MartinOtter)
- New version 0.10.2 (#107) (@MartinOtter)

## Modia3D v0.10.1

[Diff since v0.10.0](v0.10.0...v0.10.1)

- Reduce memory allocations, especially in case of collisions and FreeMotion joints.
- Require Modia 0.8.2 (drastically reduces memory allocations for FreeMotion joints).


**Merged pull requests:**
- An alloc collision (#102) (@AndreaNeumayr)
- Reduce memory allocation for FreeMotion joints (#103) (@MartinOtter)