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DART 6.20.3

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@jslee02 jslee02 released this 24 Oct 15:14
· 3 commits to release-6.20 since this release
v6.20.3
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DART 6.20.3 is a patch release on the DART 6 maintenance line. It fixes contacts for small multi-sphere shapes and adds opt-in double-precision system Bullet selection for reliable centimeter-scale contacts with float heightmaps.

The default Bullet selection and native ABI remain unchanged. To opt in, build with -DDART_BULLET_FLOAT64=ON and Bullet 3.17 or newer, rebuild consumers of DART's Bullet headers, conversion functions or native object accessors, and use one Bullet precision throughout each process.

  • Correct float-heightmap interpretation when Bullet is built with double precision.
  • Correct contacts for multi-sphere shapes smaller than Bullet's default margin.
  • Validate the Bullet precision and library variant used by installed collision-component consumers.

Changes: #3915, backport of #3868. See the full changelog.

The hosted release performance comparison against 6.20.2 passed all 17 gated rows with no failures or warnings. The attached JSON and Markdown records identify the exact tagged commit.

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