Revision 15

09/10/19

• Improve performance (reduce memory and decrease cycle time) by removing the storage of contact forces/moments outside of contact models. This will impact all user-defined contact models; they will need to be slightly modified and recompiled to conform to the standard.
• Fix rblock area computation when computing the planar polygon intersection
• Add the rblock.vertex.near intrinsic
• Fix velocity constraint on timestep computation for balls, walls, clumps and rblocks
• Fix clump and rblock timestep scaling
• Fix 2D gui Python example
• Fix wall result bug
• Add stress components to ball results
• Fix potential crash bug with rblock-rblock and rblock-facet contacts when determining the contact normal
• Fix potential potential bug with GJK due to compiler optimizations
• Fix multithreading in the RBLOCK ERODE command
• Documentation enhancements and updates