This small release fixes support of the Nyx rendering plugin. Besides, contact normal forces no longer biased by the friction coefficient nor the sliding speed, thanks to the new rigid solver option 'contact_resolution' that bounds friction against the normal force actually developed by the contact.
gs.contact_resolution.convex
| gs.contact_resolution.signorini (new default)
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|---|---|
| 
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Breaking
- [FEATURE] Support decoupling contact normal forces from friction coef and sliding speed. (@duburcqa) (#3126, #3139)
New Features
- Support raycasting against visual meshes in viewer plugins. (@Milotrince) (#3132)