This release introduces elliptic friction cone with high-impedance option to accurately model static function. In addition, the convergence of the constraint solver under fp32 accuracy has been improved.
New Features
- Add high-fidelity static friction model via elliptic friction cone with high-impedance option. (@duburcqa) (#3028, #3035, #3042)
- Add support of heterogeneous entities in batch renderer. (@Kashu7100) (#2960)
- Add distances-only mode to raycasting-based sensors. (@Kashu7100) (#2908)
- Add option to ignore MJCF ground plane. (@coyaSONG) (#3050)
Bug Fixes
- Fix default morph offset_quat clashing with offset_euler. (@duburcqa) (#3048)
- Fix IPC coupler auto-detecting wrong coup_type for Plane entities. (@liminchen) (#2877)
- Fix mass matrix for attached entities. (@duburcqa) (#3055)
- Fix fastcache support. (@hughperkins) (#3034, #3061)
- FiX USD parsing of geometry properties. (@Milotrince) (#3017)
- Fix USD parsing of textures packed in .usdz archives. (@connorsoohoo) (#3064)
- Fix MJCF parsing of 2D textures. (@thanyu-hub) (#3036)
- Fix MJCF parsing of included files with mesh defaults. (@Fstarnb) (#3068)
- Fix MJCF parsing of joint armatures. (@duburcqa) (#3072)
- Honour system scroll direction in viewer plugins. (@coyaSONG) (#3030)
- Release the offscreen EGL context before destroying it during teardown. (@duburcqa) (#3076)
Miscellaneous
- Speed up non-convex collision detection with vert spatial grid and coarse SDF lower bound. (@duburcqa) (#3026)
- Speed up non-batched CPU-based simulation (up to 30%). (@hughperkins) (#3033)
- Speed up forward kinematics by removing unnecessary atomics. (@gayathiri-venkataraman) (#3066)
- Improve constraint solver float32 convergence and equality constraint stability. (@duburcqa) (#3073)
- Preserve the energy of freely tumbling bodies under implicit integration. (@duburcqa) (#3074)
- Stop requiring 64bit precision in tactile sensors. (@Milotrince, @duburcqa) (#3057, #3058)
- Pack rigid solver data on a per-component basis. (@duburcqa) (#3060)
- Fix broken Apple Metal CI. (@hughperkins) (#3054)
- Add contribution guidelines. (@duburcqa) (#3032, #3049)