• The save/save-as function doesn't work as you'd expect. To avoid an accidential destruction of an existing file I disabled the save-function for now (save-as is still available).
• When running with more than one view there is a memory leak (you can see in the Windows task manager). This is a problem of OpenGL/graphics card when switching the context. Possibly solvable by updating your drivers (didn't work for me).

• Added a version check of dependencies for extensions (requires a small patch for existing extensions)
• Extensions can now also contain plugins beeing instanciated once. Plugins can add toolbars and interact with the whole application (rather than only with a specific simulation like components). They can also add parameters to the global settings dialog.
• Added TCL based script engine that allows:
• Open one or more console windows in the simulator.
• Execute tcl-script files.
• Use a TCL interpreter in your components.
• Automatically run consecutive simulations with evaluation (see scripts/tests/DetermineAverageReachTime.tcl for an example).
• Implement your own robot control (in TCL) without writing an extra controller component(see 12_TclFollowWall.xml for an example).
• Make your simulated environment beeing reactive without writing an extra global simcomponent. (see 13_TclGoToJumpingGoal.xml for an example)
• Extend the script engine with additional script commands imported as an own extension.
• Extended the light sensory system such that it now can handle reflected light as well (see ReflectedLightSensoryRobot.xml for an example)
• Added controller component RCSim3DLocalizer
• Added periphery component RCIRProximitySensorArray with appripriate display dialog (see IRSensorArrayRobot.xml for an example)

• Replaced my own OpenGL-base graphics engine by OpenSceneGraph bringing these advantages:
• Improved performance
• Ability to load several image formats (no more only bmp)
• Ability to import models created with other tools (e.g. 3ds)
• Ready to use more features of OpenSceneGraph for more realistic images
• New global sim component: RCDecoration (displays a model without physical effect)
• New model components: RCSphereModel and RCImportModel
• Added a demo-/test-simulation for each model type and some more visual features
• Added ability to import complete robots (and specify their pose individually)
• For more details also for the internal changes look here

RCConstruction::InternalCollide functional now (check the new example "10_InternalCollide.xml")
• New periphery component: RCLinearSpring (check the new example "11_LinearSpring.xml")
• New component RCPoseRecorder that records the pose (or part of it) from any body to a text file (added it to the example "SimpleCollidingRobot.xml")
• Added the ability to adapt parameters of the physics engine: Gravity, ERP and CFM.
• For more details also for the internal changes look here

• RCConstruction: new parameter InternalCollide (currently NO collision detection inside a construction is done)
• New periphery components: RCLightEmitter and RCLightDetector cooperating with a new global sim component RCLightSensoryHandler
• New dialog components: RCEncodedAnalogInputDlg (displays the data of a RCEncodedAnalogInput interface as implemented by RCLightDetector)
• New geom components: RCTransformGeom (allowing to specify an offset for a geoms origin) and RCComplexGeom (beeing composed of any number of other geom components all attached to the same body)
• Added an import functionality to the XML serializer replacing macro-components, RCImportBody and RCIMportJoint
• For more details also for the internal changes look here

• Added support for dialog-components
• New periphery components: RCLaserRangeSensor (measures a distance by colliding the world with a ray) and RCInternalCommunicator (allows communication between controlelrs within one simulation)
• New dialog components: RC2DLocalizerDlg (displays the data of a RC2DLocalizer interface), RCSingleRangeSensorDlg (displays the data of a RCRangeSensor interface) and RCSimpleRemoteControlDlg (communicates with a controller guiding a two-wheeles robot)
• Added ability to display virtual objects (e.g. the ray of a range sensor)
• Allow refering to components beeing created later in the simulation file
• For more details also for the internal changes look here

• Components references can be relative.
• Added new Components: RCImportJoint, RCLocalSocketCommunicator.
• Added simulation of a remote controlled robot with a remote-control application (also capable of controlling a real robot via RS232) and a control-program in C (compileable for an ATMEL Microcontrolelr as well)

• Added ability to refer to already created components.
• Added ability to use component macros rather than specifying the type and all parameters.
• Added new BodyComponent: RCConstruction, RCImportBody.
• Added new GlobalSimComponents: RCSky, RCSandBox, RCRobot, RCImportRefList.
• Added new component types: Periphery, Controller, SimController.
• Added 3 modules: stdcontrollers, stdperipheries, simcontrollers.
• Added several demo simulations including different passive and active pendulums, a six-legged robot and a (very simple) driving robot avoiding obstacles.
• Allow editing settings of the synchronization handler.
• Display simulation time, time-scaling and frame rate of current view in status bar.
• Fixed bug when creating new view.

• Splitting up the modules into one module for each namespace.
• Define interface for visualaziation- and physics-engine and implement my OpenGL wrapper and OpenDE as a derived module.
• Restructure the simulation (and fileformat) to allow hierachical descriptions.
• New concept for handling mouse action in the 3D view - you no more have to switch between modes in a toolbar.
• Dramatically reduced functionality compared to version1.3.1!
• All extensions found in the specified folder are loaded at startup.
• Textures are simply specified by their file name (without extension) and loaded from the specified file on need.
• Position of log file can be adjusted.
• Got rid of quite a lot dirty code.
• Introduced smart pointers to the software and made much more use of exceptions.

• Ability to load and save simulations in XML format
• Correct appearence of dockable dialogs when beeing docked
• fixed potential crach on startup due to invalid entries in recent file list

• Improved look of the icons - added some 3d effects.
• Changed from dialog bars to more powerful dockable dialogs.
• Added a log-window.
• No more using the registry - all information is stored in the ini-file.
• Translated remaining German texts to English.
• Several internal modifications preparing further improvements.

• First release of the software as open source.

So far you can only move single non-connected objects (to avoid an accidential destroying you can't move objects that are part of a construction). The ability to add components and edit ALL their parameters needs tobe added. Due to the flexible and extensible parameter handling concept (also used for loading and storing simulations), the required dialogs will be generated automatically by composing widget-like dialogs for each single parameter.

Since I want to use the simulator for my own research work I need to simulate my whole robot system with it. This requires additonal components:

• spring attachable to a slider joint with bedstop (sensing when it hits the bedstop) and damping
• motor with realistic characteristics (relation of voltage, current, momentum) also considering clearence equipped with encoders
• new collision geometries that allow to simulate selfcentering connectors (requires extension of ODE)