Add release-notes snippet for the MJScene fixes

juan-g-bonilla · juan-g-bonilla · commit 8b42c3fa5953 · 2026-07-11T14:22:00.000-07:00
diff --git a/docs/source/Support/bskReleaseNotesSnippets/mjscene-mass-change-and-perf.rst b/docs/source/Support/bskReleaseNotesSnippets/mjscene-mass-change-and-perf.rst
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+- Fixed :ref:`MJScene<MJScene>` reporting a body's position pinned at the model reference pose when its mass changed (for example a depleting fuel tank); the integrator state is now restored after the per-step ``mj_setConst`` refresh.
+- Sped up :ref:`MJScene<MJScene>` equations-of-motion evaluation by caching the ``mjModel``/``mjData`` pointers for the duration of the call instead of re-fetching them through the recompile-checking accessor on every access.
+- Sped up the :ref:`MJScene<MJScene>` site velocity output by computing the body-frame angular velocity from a single ``mj_objectVelocity`` call instead of two.

Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,3 @@`
	`1`	+- Fixed :ref:`MJScene<MJScene>` reporting a body's position pinned at the model reference pose when its mass changed (for example a depleting fuel tank); the integrator state is now restored after the per-step ``mj_setConst`` refresh.
	`2`	+- Sped up :ref:`MJScene<MJScene>` equations-of-motion evaluation by caching the ``mjModel``/``mjData`` pointers for the duration of the call instead of re-fetching them through the recompile-checking accessor on every access.
	`3`	+- Sped up the :ref:`MJScene<MJScene>` site velocity output by computing the body-frame angular velocity from a single ``mj_objectVelocity`` call instead of two.