The minor release speeds up rigid body simulation on GPU while significantly improving the robustness of perturbation-based multi-contact without extra runtime cost.
New Features
- Let heterogeneous entities differ in scale, fixed base pose and joint parameters. (@duburcqa) (#3497)
Bug Fixes
- Fix convex contact depth, normal and placement errors. (@duburcqa) (#3512, #3513, #3518, #3520, #3521)
- Fix convex collision detection edge-cases. (@duburcqa) (#3472, #3504, #3514, #3517)
- Fix non-deterministic GPU simulations. (@duburcqa) (#3510)
- Fix alpha cutout of masked glTF material. (@kevin9327) (#3341)
- Fix named terrain cache invalidation when its subterrain parameters change. (@MohammadHijjawi97) (#3456)
- Fix contact markers frozen in place after a scene reset. (@duburcqa) (#3493)
Miscellaneous
- Speed up rigid body simulation on GPU. (@duburcqa) (#3458, #3459, #3462, #3470)
- Reduce the memory footprint of heterogeneous entities. (@duburcqa) (#3488)
- Allow fast prototyping by dramatically reducing kernel recompilation. (@duburcqa) (#3464)
- Bound the number of rigid solver compilations across scenes of different sizes. (@duburcqa) (#3461)
- Support recording numpy scalars to files. (@MohammadHijjawi97) (#3457)
- Migrate from deprecated TorchScript to torch.compile. (@duburcqa) (#3479)
- Show the changes made by setters in the interactive viewer right away. (@duburcqa) (#3494)