From 3d93f9448f4cafe23cf82fcb8d03a9f711e75952 Mon Sep 17 00:00:00 2001 From: Joss Salton <145990319+SaltyJoss@users.noreply.github.com> Date: Fri, 20 Feb 2026 00:15:07 +0000 Subject: [PATCH 1/3] Revise Todo List format and item status (#71) Updated the Todo List with checkboxes and corrected a strikethrough item. --- README.md | 30 +++++++++++++++--------------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/README.md b/README.md index f74d36b..06afccb 100644 --- a/README.md +++ b/README.md @@ -86,21 +86,21 @@ Download the latest release of DSFE from `Release` in the `DSFE GitHub Repositor > Therefore, I most likely will not make any updates until that period is over.
### Todo List: - * Implement `collision meshes` with existin dynamics pipeline - * Improve UI, making it `Research-Oriented` - * Add workspace layouts - * Support multiple concurrent sessions - * Move simulation data output to a `dedicated Data-specific thread` **(IMPORTANT)** - * Replace the current diagonal Coriolis approximation to the `full Coriolis matrix formulation` - * Support `multiple articulated systems` within a single simulation instance - * Extend DSFE to support `other classes of dynamical systems` outside robotic manipulators - * Further `extend physcial modelling` for different robot models (humanoid, legged) - * Seperate physics/mathematics core from the GUI and visualisation layers - * Explore migration to a `CMake-only` build system - * Explore `DX11` and `Vulkan` alternatives - * Get DSFE to work on `Linux` - * Explore `non-x64 systesm` support - * Explore the adoption of `standardised URDF XML` in place of the current DSFE json format + * [ ] Implement `collision meshes` with existin dynamics pipeline + * [ ] Improve UI, making it `Research-Oriented` + * [ ] Add workspace layouts + * [ ] Support multiple concurrent sessions + * [ ] Move simulation data output to a `dedicated Data-specific thread` **(IMPORTANT)** + * [x] Replace the current diagonal model with the standarised `full-matrix rigid-body model` + * [ ] Support `multiple articulated systems` within a single simulation instance + * [ ] Extend DSFE to support `other classes of dynamical systems` outside robotic manipulators + * [ ] Further `extend physcial modelling` for different robot models (humanoid, legged) + * [ ] Seperate physics/mathematics core from the GUI and visualisation layers + * [ ] Explore migration to a `CMake-only` build system + * [ ] Explore `DX11` and `Vulkan` alternatives + * [ ] Get DSFE to work on `Linux` + * [ ] Explore `non-x64 systesm` support + * [ ] Explore the adoption of `standardised URDF XML` in place of the current DSFE json format
From 81c7e34615ec08f627bc4b28c761cb94a9fc7ce4 Mon Sep 17 00:00:00 2001 From: Joss Salton <145990319+SaltyJoss@users.noreply.github.com> Date: Tue, 24 Feb 2026 12:50:06 +0000 Subject: [PATCH 2/3] Update README with task completion and new references (#77) --- README.md | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 06afccb..092ca83 100644 --- a/README.md +++ b/README.md @@ -95,12 +95,15 @@ Download the latest release of DSFE from `Release` in the `DSFE GitHub Repositor * [ ] Support `multiple articulated systems` within a single simulation instance * [ ] Extend DSFE to support `other classes of dynamical systems` outside robotic manipulators * [ ] Further `extend physcial modelling` for different robot models (humanoid, legged) - * [ ] Seperate physics/mathematics core from the GUI and visualisation layers + * [x] Seperate physics/mathematics core from the GUI and visualisation layers * [ ] Explore migration to a `CMake-only` build system * [ ] Explore `DX11` and `Vulkan` alternatives * [ ] Get DSFE to work on `Linux` * [ ] Explore `non-x64 systesm` support * [ ] Explore the adoption of `standardised URDF XML` in place of the current DSFE json format + * [ ] Implement unit tests for each method relevant to numerical analysis. + * [ ] Implement solution to current friction model (Seems to be introducing stiffness into RK4/RK45?) - `LPV or Karnopp approach maybe?` + * [ ] Need to look at using CRBA instead of just looping through a mass matrix loop
@@ -137,6 +140,7 @@ The software itself is made of 3 seperate solutions that are under the GPL-3.0 L * [nlohmann Json][Nlohmann-Json-url] for integration of .json files within c++, allowing robots to have defined properties that can be easily retrieved upon loading * [HDF5][HDF5-url] for storing structured time-series data from robotic arm simulation runs for post-analysis and comparisons of integration methods performance and stability * [stb image][stb-image-url] for lightweight loading of png and jpgs files previously used in cubemaps +* [SSAO logic][SSAO_url] was taken and derived from [SemiWaker][SemiWaker_url]'s SSAO repo - please remember this for any logic SSAO-related.

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@@ -188,3 +192,5 @@ The software itself is made of 3 seperate solutions that are under the GPL-3.0 L [vispa-repo]: https://github.com/AirbusDefenceAndSpace/vispa [saltyjoss]: https://github.com/SaltyJoss [citation-url]: https://github.com/SaltyJoss/RoboticArm_MathModelling/blob/Main/CITATION.cff +[SSAO_url]: https://github.com/semiwaker/SSAO_term_project +[SemiWaker_url]: https://github.com/semiwaker From d29b579f679df109923e11a93a3cb14bf8469831 Mon Sep 17 00:00:00 2001 From: Joss Salton <145990319+SaltyJoss@users.noreply.github.com> Date: Tue, 24 Feb 2026 12:50:52 +0000 Subject: [PATCH 3/3] Update roadmap release notes for dissertation focus --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 092ca83..e43feb6 100644 --- a/README.md +++ b/README.md @@ -82,7 +82,7 @@ Download the latest release of DSFE from `Release` in the `DSFE GitHub Repositor ## Roadmap Ideas: > **IMPORTANT**:
-> As of Release `v0.6.0r-alpha`, I ([@SaltyJoss](https://github.com/SaltyJoss)) will be fully focusing on my dissertation for this project, my other modules, and ultimately finishing my degree.
+> As of Release `v0.7.1r-alpha`, I will be fully focusing on my dissertation for this project, my other modules, and ultimately finishing my degree.
> Therefore, I most likely will not make any updates until that period is over.
### Todo List: