This release dramatically improves scaling to large scenes using islands partitioning, which a now first-class and enabled by default. Besides, the simulation speed is also scaling much better with the number of degrees of freedom per entity.
examples.rigid.hibernation.py.mp4
Breaking changes
New Features
Bug Fixes
- Fix race condition causing ImGui plugin to crash during scene rebuild. (@Kashu7100) (#2936)
- Fix joint-equality when attaching a floating-base entity. (@duburcqa) (#2948)
- Fix offscreen rendering using wrong resolution when interactive viewer is enabled. (@duburcqa) (#2954)
- Fix Windows offscreen rendering. (@duburcqa) (#2951, #2953, #2961)
- Deduplicate BatchRenderer textures without image_path. (@NoahLinckeScout) (#2940)
- Render each heterogeneous variant in its own environment. (@duburcqa) (#2958)
Miscellaneous
- Add 'loop_config' kernel names for profiling. (@hughperkins) (#2950)
- Fix typos and redundant placeholder/value in bug report template. (@yeezhouyi) (#2840)
- Improve readability of entity and morph repr. (@duburcqa) (#2956)
- Raise on ambiguous morph access for heterogeneous entities. (@kunni918) (#2798)
- Speedup rigid body mass matrix cholesky decomposition for large dof count. (@Kashu7100) (#2915)
- Partition mass matrix per kinematic tree to allow factoring them separately. (@duburcqa) (#2976)
- Cache mesh processing to speed up adding many identical entities. (@duburcqa) (#2978)
- Scale hibernation ang vel threshold by DOF swept radius. (@duburcqa) (#2979)
Contributors
hughperkins, duburcqa, and 4 other contributors