Changelog: v2.4

v2.4.7 (2026-08-15)

World aborts when headers and libraisim layouts differ.
Validation: time step, mass/inertia, zero quaternions, unknown link/joint names, collision edits.
SingleBodyObject::setMassProperties; fixed gyroscopic modes (energy-conserving implicit midpoint) and kinematic bodies; correct capsule/cylinder inertia.
ArticulatedSystem fixes: getJointCoordinate by joint type, frame setExternalForce in world frame, composite COM/mass matrix, collision group/mask kept.
HeightMap: setPosition moves collision and rays; getContactHeight; transactional validated updates; mutable getHeightMap() removed; 16-bit PNG fix.
Heightmap contacts, swept CCD and rays corrected; consistent contact normals; MPR and mesh validation fixes.
Granular: periodic minimum image, momentum conservation across substeps, articulated coupling; constraint energy/tension fixes.
MJCF <equality><connect> creates pin constraints; many MJCF/URDF/USD loader fixes and validations.
Sensor property validation; fisheye FOV up to π.
XML parser hardening; math-library bounds fixes.
RaisimServer rejects malformed requests per connection; transactional spawn/edit.

Faster broadphase (SAP −51% dense, no-broadphase −64%), box–cylinder, MPR and GJK, heightmap contacts and HeightMap::update.
Contact solver skips unchanged contacts exactly; granular skips redundant grid rebuild.
Faster rayrai frame caching and material apply.
Weather: automaticUtcOffset, utcOffsetHours.

Contact solver: no self-confirmation sweep (stress −24.5%), devirtualized updates, cheaper rank check.
ABA contact pass shares basis propagation (−43% at 8 contacts/body); principal-axis revolute fast path (~7%).
Convex mesh vs heightmap −20%.
Fixed: blended friction cone, MPR hang on deformables, capsule inertia, matScalarMul, terrain rounding, deformable substep velocity, sphere-on-cylinder NaN, ray inside sphere, 0-DOF systems.
Joint velocity limit defaults to infinity (ranged MJCF joints no longer frozen).
Path normalization rewritten; MJCF material/fixed-child/slide-range fixes; typeless geoms are spheres.
Debug and Release installs coexist; RAISIM_INSTALL_CONFIG; Linux built for Ubuntu 20.04.
TCP viewer: non-blocking auto-connect, drains all messages per frame, clean reconnect.

ABA/articulated dynamics speedups (up to −7%); allocation-free RNE.
Mesh BVH and ray queries reuse scratch stacks (−9%).
Math fixes: aliasing-safe matmul, cholInv2 overflow, rectangular fillSub, block/row refs.
Frame lookups fail with an error when not found.
Server serialization fixes.
run_tests.sh/run_benchmarks.sh wrappers.

Contact solver: warm start, skip unchanged contacts, early stop and stall detection (primitive pile −54%, Atlas pile −75%).
Fixed deformable/granular warm-start read and destructor alignment.
SingleBodyObject::setPosition(Vec<3>).
TCP viewer reads all server contact layouts.
One shared OpenUSD runtime for raisim and rayrai; Windows /FS build fix.

try_lock() on World, objects, constraints, sensors and server visuals.
Server: Windows SOCKET fix; viewer forces wake sleeping bodies.
TCP viewer: scene-reset slowdown fixed, disconnect status, --wait-for-server fix.
rayrai: async auto-exposure, render caches, hardened fuzz-tested protocol reader, graceful shader failures.
Binary STL with undefined alpha loads opaque.
macOS x86_64 OpenUSD; source installs on macOS build OpenUSD when it is missing.

macOS arm64 and x86_64 packages.
rayrai foliage: atlases, GPU and Hi-Z culling, multi-draw indirect, hierarchical clusters, impostors, shadow LOD, alpha-depth prepass.
Cached static/dynamic shadows; on-disk mesh preprocess cache and automatic mesh LOD.
InstancedVisuals::addInstances, reserveInstances and foliage policies.

USD Physics articulations: World::addUsdArticulatedSystem; .usd* worlds.
OpenUSD always bundled (RAISIM_OPENUSD removed); rayrai loads USD on Windows.
Parent–child collision filtering by collision bodies; material changes apply immediately.
SingleBodyObject::getDOF/getGeneralizedCoordinateDim are constexpr.
TCP: mouse forces scaled by body mass, Shift-drag picking, Windows client and discovery.
rayrai: vertex displacement, terrain normal/height maps, auto parallax, foliage wind, findInstancedVisuals.