Changelog

### [DART 6.13.2 (2024-17-03]

Build

    Fixed build with GCC >= 13: #1793

### [DART 6.13.1 (2024-01-04)](https://github.com/dartsim/dart/milestone/74?closed=1)

* Tested Platforms

  * Ubuntu Focal on amd64 / GCC 9.4 / amd64
  * Ubuntu Jammy on amd64 / GCC 11.3 / amd64
  * macOS 12 (Monterey) / Clang 14 / amd64
  * Windows / MSVC 19.37 / amd64

* Build

  * Fixed build with urdfdom 4.0.0: [#1779](https://github.com/dartsim/dart/pull/1779)
  * Fixed invalid array access in moving skeleton subtree: [#1778](https://github.com/dartsim/dart/pull/1778)

* Dynamics

  * Fixed joint not recovering after reaching position limits in servo mode: [#1774](https://github.com/dartsim/dart/pull/1774)

### [DART 6.13.0 (2022-12-31)](https://github.com/dartsim/dart/milestone/69?closed=1)

* Supported Platforms

  * Ubuntu Focal on amd64 / GCC 9.3 / amd64
  * Ubuntu Jammy on amd64 / GCC 11.2 / amd64
  * macOS 12 (Monterey) / Clang 13 / amd64
  * Windows / Microsoft Visual Studio 2019 / amd64

* Dependency

  * Added required dependencies: fmt
  * Added optional dependencies: spdlog
  * Removed required dependencies: Boost

* Build

  * Dropped supporting FCL < 0.5: [#1647](https://github.com/dartsim/dart/pull/1647)

* Common

  * Added Castable class: [#1634](https://github.com/dartsim/dart/pull/1634)
  * Added spdlog support as underlying logging framework: [#1633](https://github.com/dartsim/dart/pull/1633)
  * Added custom memory allocators: [#1636](https://github.com/dartsim/dart/pull/1636), [#1637](https://github.com/dartsim/dart/pull/1637), [#1639](https://github.com/dartsim/dart/pull/1639), [#1645](https://github.com/dartsim/dart/pull/1645), [#1646](https://github.com/dartsim/dart/pull/1646)
  * Added Stopwatch class to replace Timer: [#1638](https://github.com/dartsim/dart/pull/1638)
  * Removed Boost dependency: [#1648](https://github.com/dartsim/dart/pull/1648), [#1651](https://github.com/dartsim/dart/pull/1651)

* Collision Detection

  * Updated to use convex mesh of Bullet when possible: [#1664](https://github.com/dartsim/dart/pull/1664), [#1667](https://github.com/dartsim/dart/pull/1667)

* Dynamics

  * Fixed setResitutionCoeff() calling setFrictionCoeff(): [#1677](https://github.com/dartsim/dart/pull/1677)
  * Made inertial warnings optional when setting tensor: [#1672](https://github.com/dartsim/dart/pull/1672)
  * Added deep copy for shapes: [#1612](https://github.com/dartsim/dart/pull/1612)
  * Added iterator methods to container-like classes: [#1644](https://github.com/dartsim/dart/pull/1644)
  * Fixed grouping of constraints: [#1624](https://github.com/dartsim/dart/pull/1624), [#1628](https://github.com/dartsim/dart/pull/1628)
  * Fixed issue with removing skeletons without shapes: [#1625](https://github.com/dartsim/dart/pull/1625)
  * Added support for custom contact surface handlers: [#1626](https://github.com/dartsim/dart/pull/1626)

* GUI

  * Fixed depth testing for transparent objects: [#1643](https://github.com/dartsim/dart/pull/1643)
  * Added depth rendering mode: [#1652](https://github.com/dartsim/dart/pull/1652)