Add release-notes snippet for the MJScene fixes

juan-g-bonilla · juan-g-bonilla · commit d472c07482fd · 2026-07-12T21:25:21.000-07:00
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.

Original file line number	Diff line number	Diff line change
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	`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.