The performance of data accessors have been dramatically improved by leveraging zero-copy memory sharing between GsTaichi and Torch. Beyond that, the robustness of the default contact algorithm has been improved, and differentiable forward dynamics for Rigid Body simulation is not partially available. Last, but not least, GsTaichi dynamic array mode is finally enabled back by default!

New Features

• [CHANGING] More robust MPR+SDF collision detection algorithm. (@duburcqa) (#1983, #1985)
• [CHANGING] Disable box-box by default. (@duburcqa) (#1982)
• Enable back GsTaichi dynamic array mode by default except for MacOS. (@duburcqa) (#1977)
• Add error code to rigid solver. (@duburcqa) (#1979)
• Add option to force batching of fixed vertices. (@duburcqa) (#1998)
• Leverage GsTaichi zero-copy in data accessors. (@duburcqa) (#2011, #2019, #2021, #2023, #2025, #2030, #2037, #2048, #2054)
• Add an option to disable keyboard shortcuts (@YilingQiao) (#2026)
• Add support of 'capsule' primitive in URDF file. (@duburcqa) (#2045)
• Add full support of tensor broadcasting in getters. (@duburcqa) (#2051)
• Add rasterizer, batch renderer, and raytracer as sensor (@YilingQiao) (#2010)