This minor release improves compliance of rigid body simulation wrt the orientation- and scale-based physics invariants, while improving numerical robustness to ill-conditioning for the mass matrix. Besides, the simulation is now fully deterministic on a given machine for both CPU and GPU.
New Features
- Add method for querying terrain height. (@jeetrex17) (#3128)
Bug Fixes
- Fix delete weld constraint when not last added dynamic equality. (@jimwang418) (#3123)
- Fix viewer picking and raycast sensors missing hits. (@duburcqa) (#3147)
- Fix sensor read delay crash and jitter returning undelayed data. (@Milotrince) (#3188)
- Preserve authored inertia matrix when center of mass is unspecified. (@eason4kim-rocket) (#3184)
- Keep rigid body simulation consistent across scene orientations and scales. (@duburcqa) (#3152, #3156, #3194, #3196)
Miscellaneous
- Cleanup examples for consistency. (@Milotrince) (#3104)
- Report a clear error when EGL is unavailable for offscreen rendering. (@himanshu748) (#3145)
- Speed up simulation with IMU sensors. (@duburcqa) (#3149)
- Share mesh cache between re-exports of the same asset. (@duburcqa) (#3151)
- Simplify per-step update of temperature sensor. (@duburcqa) (#3153)
- Speedup scene build by skipping the hollow-geom SDF probe for convex geoms. (@YilingQiao) (#3180)
- Make GPU-based rigid body simulation deterministic. (@hughperkins) (#3187)