This release focuses on significantly improving performance on large scale scenes for both CPU and GPU. The speed is now slowing down sub-linearly wrt the number of islands on both CPU and GPU, and Jacobi equilibration for imbalanced scenes is much cheaper, and contact-rich scenes are much faster on CPU.
New Features
- Support MJCF joint equalities without joint2. (@ktyang512) (#3290)
Bug Fixes
- Decode normalized integer glTF accessors instead of reading their raw values. (@VihaanAgarwal) (#3330)
- Preserve glTF normals and texture coordinates. (@jeetrex17) (#3323)
- Honor joint actuator force range for MJCF. (@duburcqa) (#3328)
- Open an exported scene on any platform and through gs launch. (@duburcqa) (#3340)
Miscellaneous
- Speed up the constraint solver on multi-island scenes on GPU. (@duburcqa) (#3331, #3347, #3349, #3350, #3352, #3353)
- Speed up the constraint solver when Jacobi equilibration is active. (@duburcqa) (#3344)
- Speed up the constraint solver on contact-heavy scenes on CPU. (@duburcqa) (#3345)
- Speed up noslip stage for small batch size on GPU. (@hughperkins) (#3273)
- Speed up cameras and the interactive viewer for rasterizer. (@duburcqa) (#3326)
- Speed up live plot recorders. (@duburcqa) (#3358)
- Reduce the compilation time of the rigid solver. (@duburcqa) (#3359)
- Decompose the rigid scene into its maximal kinematic trees. (@duburcqa) (#3356)
- Support heterogeneous default armature. (@duburcqa) (#3326)
- Expose entity-level public API for setting dofs limit. (@jeetrex17) (#3348)