v1.2.1

This release dramatically improves scaling to large scenes on CPU by better leveraging sparsity and incremental Hessian update. Scenes with 100 entities / 1000 geometries now run in real-time at 120FPS.

Breaking changes

• [BUG FIX] Fix center of mass not properly aligned for composite links. (@duburcqa) (#2993)

New Features

• Add JointTorqueSensor. (@matthieuvigne) (#2989)

Bug Fixes

• Fix textures when loading GLB meshes with multiple materials. (@duburcqa) (#2984)
• More robust watertighten algorithm use for non-convex meshes and inertia estimation. (@duburcqa) (#2994)
• Fix stale deformable meshes on first rendered frame and wake-up crash during build. (@duburcqa) (#3006)

Miscellaneous

• More robust convex collision detection. (@duburcqa) (#2999, #3007)
• Speed up CPU rigid constraint solver. (@duburcqa) (#2992, #2993, #2996, #3001, #3005)