Minor release mainly aiming at polishing existing features and addressing some major performance regression that was introduced end of august. GsTaichi dynamic array type and fast cache are now enabled by default on Linux and Windows (opt-in on MacOS via env variable 'GS_ENABLE_NDARRAY'), which should help avoiding recompilation in most cases.
New Features
- Make convex decomposition cache scale-invariant. (@SonSang) (#1810)
- Add parsing of joint friction and damping for URDF files. (@duburcqa) (#1833)
- Differentiable constraint solver (@SonSang) (#1733)
- Add support of GsTaichi dynamic array type and fast cache mode. (@YilingQiao, @duburcqa) (#1868, #1873, #1875, #1880)
Bug Fixes
- Fix hybrid entity with rigid. (@duburcqa) (#1819)
- Reduce general memory usage. (@hughperkins) (#1828)
- Improve reliability and performance of plotters. (@duburcqa) (#1836)
- Fix loading MJCF file with includes. (@YilingQiao, @duburcqa) (#1838, #1840)
- Fix DepthCamera sensor. (@Milotrince) (#1842)
- Fix and refactor named terrain. (@duburcqa) (#1845)
- Raise exception in case of invalid set entity pos/quat. (@duburcqa) (#1847, #1869)
- Fix gltf Loading for URDF. (@ACMLCZH) (#1857)
- Fix friction loss causing nan on Apple GPU. (@duburcqa) (#1860)
- Fixed minor bug in differentiable contact detection. (@SonSang) (#1864)
- Fix race condition during concurrent viewer refresh and draw_debug_*. (@duburcqa) (#1883, #1884)
- Enable GPU and fix dt in some example scripts. (@schlagercollin) (#1890)
Miscellaneous
- Reduce memory usage of Raycaster sensor. (@Milotrince) (#1850)
- Add 'get_particles_pos' helper method to SPHEntity. (@YilingQiao) (#1871)
- Enabling gstaichi fast cache by default. (@hughperkins) (#1885)
- Refactor Rigid simulation data management. (@duburcqa) (#1888)
- Do not silent errors during build. (@duburcqa) (#1889)