This release focuses on significantly improving performance on large scale scenes via hibernation. Hibernated islands should do not incure any runtime anymore. Besides, the Signorini contact resolution is in better shape but should still be consider experimental due to convergence issues.
Bug Fixes
- Fix damped joints injecting energy when the constraint solve exits with a force residual. (@duburcqa) (#3375)
- More robust convergence of the Signorini contact resolution. (@duburcqa) (#3381, #3382)
Miscellaneous
- Speed up rigid simulation with hibernation enabled. (@duburcqa) (#3363, #3366, #3367, #3369)
- Speed up the GPU rigid solver for large contact islands. (@duburcqa) (#3368)
- Speed up the constraint solver under the elliptic friction cone on GPU. (@duburcqa) (#3380)
- Make the kinematic tree, rather than the entity, the unit of every rigid solver pass. (@duburcqa) (#3376)
- Avoid spurious precision-loss warning when building a rigid scene in single precision. (@duburcqa) (#3362)
- Expose the wall time of each phase of a scene step. (@duburcqa) (#3370)