Release notes

1.1.1

CRISP 1.1.1 corrects contact-stiffness handling and improves input validation in the public builder API.

Contact stiffness

• Geometry stiffness k is now handled consistently in N/m.
• Updated the assembly examples for the corrected stiffness behavior.

Validation

• Geometry::createConvex, createMesh, createSDF, createDSF, and createTDSF now return bool instead of void.
• register_package_root and set_log_level now return bool instead of void.
• ModelBuilder::build() returns an empty handle when model construction fails.
• Invalid URDF imports return false.

See Update for the package refresh procedure.

1.1.0

CRISP 1.1.0 adds collision pairs, solver-specific iteration limits, runtime diagnostics, and a versioned model file format.

Collision and model construction

• Added collision handling for sphere–SDF, capsule–SDF, and convex–SDF pairs.
• Added mesh_t::cvx_fallback for using a mesh's convex hull with applicable collision pairs. It is enabled by default.
• Separated main-stack and collision-worker workspace sizing. cap().narena sets each worker's capacity.

Solver configuration

• Revised the default time step and solver iteration budgets.
• Added separate iteration limits for CANAL and SubADMM: canal.max_iter and sub_admm.max_iter.

Viewer and diagnostics

• Added Diagnostics views for simulation-stage timings, solver iteration and residual histories, and stack and per-worker workspace use.
• Improved navigation, filtering, and error reporting in the Inspector and Log panels, and added UI scaling and default-layout restoration.
• Revised frame pacing and event handling to keep the viewer responsive during slow simulation steps.
• Improved transparent geometry rendering and camera sensor capture.

Model I/O

• Added a format identifier to model files. load_model now rejects files with an incompatible or unversioned format.

Breaking changes

• sol.max_iter was removed; use canal.max_iter or sub_admm.max_iter.
• save_model now returns bool instead of void.

See Update for the package refresh procedure.

1.0.0

Initial public release of CRISP, including prebuilt C++ packages, model construction and simulation APIs, the interactive viewer, CANAL and SubADMM contact solvers, and the peg-insertion and gear-assembly examples.