Changelog: v2.0 – v2.3

v2.3.0 (2026-05-28)

Rolling and spinning friction per material pair (opt-in; XML rolling_friction/spinning_friction).
Camera lens model: pinhole or equidistant fisheye with intrinsics (CameraLens.hpp); Sensor::setAttachmentFrame; depth point clouds use NaN for misses.
Visual-only heightmap updates (updateVisualHeight, updateVisualHeightPatch, setColorPatch).
Object::getRenderRevision; DeformableObject::applyRigidTransform; World::loadMjcfFile.
Failed CoACD falls back to a convex hull.
Server sim control: pause/resume/step, force, torque, pose and GC requests; integrateWorldThreadSafe(beforeStep).
Server binds to loopback by default; port fallback; UDP discovery beacon.
TCP viewer: sim control, robot inspector, measuring tools, X-ray, standard views, screenshots, weather panel.
rayrai: weather presets, rain/snow, physical sky, clouds, fog volumes.
rayrai post-processing: MSAA, TAA, upscaling, bloom, SSAO, SSR, OIT, auto exposure, tone mapping and many lens/stylized effects.
rayrai lighting: shadow cascades, shadowed point/spot lights, reflection probes, irradiance volumes, decals.
rayrai materials: sheen, anisotropy, transmission, clearcoat, parallax, foliage; Material factories; PbrEnvironment.
rayrai: shader binary cache and prewarming, multithreaded offscreen rendering, retuned presets, diagnostics.
Build: RAISIM_OPENUSD, ARM detection, Windows OpenUSD; docs split into topic pages.

Deformable objects (XPBD cloth and soft bodies): addDeformableCloth, addDeformableObject.
Granular media (DEM): addGranularParticles, addGranularBox, emitters, boundaries, coupling with all bodies.
ArticulatedSystem::solveIK.
Swept CCD for fast primitives (opt-in).
Stable object IDs, collision filter/material setters, single-body snapshot/restore/clone.
World::captureDepthCamera (CPU depth/segmentation).
Mesh asset pipeline (preprocessMesh, OBJ cache, exportMeshAssetsToObj); USD mesh colliders with bundled OpenUSD.
MJCF meshdir and Menagerie models.
Faster plane, heightmap-mesh, sphere and Jacobian paths; solver skips zero impulses.
Behaviour change: VISUALIZER sensor source removed (RGB/depth default to MANUAL); RaisimServer::setMap removed.
Server streams deformables, granular particles and point clouds; protocol 10021 with feature negotiation.
Fixes: material updates, wires removed with objects, relative mesh paths, XML, matrix helpers, ray lists.
rayrai: quality presets, HDR IBL, reflection probes, bloom, SSAO, DOF, extra lights, glTF materials, async mesh loading and readback, instanced LOD.
New asset, USD and rayrai examples; standalone visualizer build.

CoACD convex decomposition (MeshCollisionMode::CONVEXIFY, CoacdOptions), default for addMesh, cached on disk.
rayrai PBR shading of glTF/Assimp materials with soft shadows.
rayrai_coacd_mesh_approximation example.
Linux ARM64 rayrai; Linux x86_64/arm64 and Windows packages.

New built-in collision detection replaces ODE (GJK/EPA, MPR, primitive pairs, mesh and heightmap contacts).
Broadphase choice (SAP, MBP, none) via setContactSettings/setBroadphaseSettings.
Sleeping islands (on by default) with setSleeping*, wakeObject, isObjectSleeping.
integrateNoContactDetection; rayTestLidar; breaking: rayTest drops closestOnly.
Any Assimp mesh format; MeshCollisionMode (convex hull default); convexifyCollisionMeshes.
CollisionBodyHandle replaces dGeomID; setCollisionBody* renames; self-collision helpers.
Faster bounding boxes, Jacobians, stepping and material lookup.
Fixes: pin-constraint contact indices, capsule tunnelling, mesh/heightmap contact stability, Ground::setPosition.
Behaviour change: contact erp 0.3 → 1.5; XML ground collision group 31 → 63.
SpinningLidar sensor; SensorSet; sensor XML references in URDF; depth-camera row and NaN fixes.
URDF modules; ordered XML template parameters.
Server: point clouds, InstancedVisuals::setScale, faster reconnect.
lock()/unlock() on world objects; printf-style logging macros.
rayrai renderer and RaisimTcpViewer.
System Eigen required; Clang 20; Windows support; Dockerfile.