v1.2.3

This release introduces elliptic friction cone with high-impedance option to accurately model static function. In addition, the convergence of the constraint solver under fp32 accuracy has been improved.

New Features

• Add high-fidelity static friction model via elliptic friction cone with high-impedance option. (@duburcqa) (#3028, #3035, #3042)
• Add support of heterogeneous entities in batch renderer. (@Kashu7100) (#2960)
• Add distances-only mode to raycasting-based sensors. (@Kashu7100) (#2908)
• Add option to ignore MJCF ground plane. (@coyaSONG) (#3050)

Bug Fixes

• Fix default morph offset_quat clashing with offset_euler. (@duburcqa) (#3048)
• Fix IPC coupler auto-detecting wrong coup_type for Plane entities. (@liminchen) (#2877)
• Fix mass matrix for attached entities. (@duburcqa) (#3055)
• Fix fastcache support. (@hughperkins) (#3034, #3061)
• FiX USD parsing of geometry properties. (@Milotrince) (#3017)
• Fix USD parsing of textures packed in .usdz archives. (@connorsoohoo) (#3064)
• Fix MJCF parsing of 2D textures. (@thanyu-hub) (#3036)
• Fix MJCF parsing of included files with mesh defaults. (@Fstarnb) (#3068)
• Fix MJCF parsing of joint armatures. (@duburcqa) (#3072)
• Honour system scroll direction in viewer plugins. (@coyaSONG) (#3030)
• Release the offscreen EGL context before destroying it during teardown. (@duburcqa) (#3076)

Miscellaneous

• Speed up non-convex collision detection with vert spatial grid and coarse SDF lower bound. (@duburcqa) (#3026)
• Speed up non-batched CPU-based simulation (up to 30%). (@hughperkins) (#3033)
• Speed up forward kinematics by removing unnecessary atomics. (@gayathiri-venkataraman) (#3066)
• Improve constraint solver float32 convergence and equality constraint stability. (@duburcqa) (#3073)
• Preserve the energy of freely tumbling bodies under implicit integration. (@duburcqa) (#3074)
• Stop requiring 64bit precision in tactile sensors. (@Milotrince, @duburcqa) (#3057, #3058)
• Pack rigid solver data on a per-component basis. (@duburcqa) (#3060)
• Fix broken Apple Metal CI. (@hughperkins) (#3054)
• Add contribution guidelines. (@duburcqa) (#3032, #3049)