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DART 6.20.0 released: contact scenarios up to 18.9x faster
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The DART physics simulation engine has released version 6.20.0, focused on performance in contact-dense scenarios. According to the official announcement, a scene with 3,000 shapes under the ODE detector is 18.9x faster than in 6.19.4, and stationary objects can sleep and no longer sink. This version is ABI-incompatible with 6.19, and FCL now defaults to exact primitive-shape collision; building from source requires GCC 11.2, Clang 13, Apple Clang 14, or Visual Studio 2022 (Ubuntu 22.04, macOS 13 and newer), and dartpy requires Python 3.10 and NumPy 1.21.5 or above. If FCL uses single-precision libccd (its default setting), the build aborts due to momentum drift from shallow contacts. In addition, it adds optional multithreaded solving (World::setNumSimulationThreads(), also available in dartpy), which can solve independent constraint islands and build contacts in parallel, as well as heap-allocation-free stepping.
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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.
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