v1.3.2

This minor release improves compliance of rigid body simulation wrt the orientation- and scale-based physics invariants, while improving numerical robustness to ill-conditioning for the mass matrix. Besides, the simulation is now fully deterministic on a given machine for both CPU and GPU.

New Features

• Add method for querying terrain height. (@jeetrex17) (#3128)

Bug Fixes

• Fix delete weld constraint when not last added dynamic equality. (@jimwang418) (#3123)
• Fix viewer picking and raycast sensors missing hits. (@duburcqa) (#3147)
• Fix sensor read delay crash and jitter returning undelayed data. (@Milotrince) (#3188)
• Preserve authored inertia matrix when center of mass is unspecified. (@eason4kim-rocket) (#3184)
• Keep rigid body simulation consistent across scene orientations and scales. (@duburcqa) (#3152, #3156, #3194, #3196)

Miscellaneous

• Cleanup examples for consistency. (@Milotrince) (#3104)
• Report a clear error when EGL is unavailable for offscreen rendering. (@himanshu748) (#3145)
• Speed up simulation with IMU sensors. (@duburcqa) (#3149)
• Share mesh cache between re-exports of the same asset. (@duburcqa) (#3151)
• Simplify per-step update of temperature sensor. (@duburcqa) (#3153)
• Speedup scene build by skipping the hollow-geom SDF probe for convex geoms. (@YilingQiao) (#3180)
• Make GPU-based rigid body simulation deterministic. (@hughperkins) (#3187)