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Physics simulation engine DART 6.20.0 released, up to 18.9x faster in contact-heavy scenes

DART has released version 6.20.0; a 3,000-shape scene runs 18.9x faster than 6.19.4 under the ODE detector, resting bodies can sleep and no longer sink. This version is not ABI compatible with 6.19, FCL now defaults to exact primitive-shape collision, builds require a new toolchain such as GCC 11.2 and Clang 13, and optional multithreaded solving and heap-allocation-free stepping are added.

Part of the event: DART 6.20.0 released: contact scenarios up to 18.9x faster

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