New functionality

• Added support for soft bodies (feature still in development, see announcement).
• Support for limiting the degrees of freedom of a body to support 2D simulations (see announcement).
• Support for setting surface velocity of a body (see announcement).
• Added ability to update a height field after creation (see announcement).
• Support for non-power of 2 height fields.
• Expose a function to compare the JOLT_VERSION_ID with the version the library was compiled with to detect mismatches between library and client code.
• Added ability to specify extra ragdoll constraints that are not parent/child related.
• Ability to selectively save the state of a physics system to support replicating state over the network.
• Added constraint priority to control the order of evaluation of constraints (and thereby the most influential constraints).
• Sensors can now detect static objects.
• Ability to override mass and inertia of bodies from the ContactListener.
• Ability to specify stiffness/damping for springs instead of frequency/damping.
• Added option to disable the lean spring controller for motorcycles.
• Added vehicle callbacks at the beginning of the step listener and after wheel checks.
• Ability to override the position where the suspension and tire forces are applied.
• Support for building Jolt as a shared library on Windows.
• Optimized Indexify function from O(N^2) to O(N log(N)).

Removed functionality

• Removed support for integration sub steps for PhysicsSystem::Update.

New supported platforms

• 32-bit versions of Android on ARM and x86.

Bug fixes

• Motor frequency/stiffness of 0 should turn the motor off.
• RotatedTranslatedShape::GetPosition returned the wrong value.
• If a body is removed between the broad phase detecting an overlap and the narrow phase locking the body, callbacks could be called on a body that has already been removed.
• Fixed flipped normals in EPA penetration depth algorithm which could cause the normal to point in the wrong direction for collision tests.
• Respecting the IsSensor flag for CCD bodies.
• Fixed double locking issue that could cause a deadlock while updating the AABB of a body during simulation.
• Fixed a crash when fetching a body using an invalid BodyID.
• Windows 32 vs 64-bit versions produce the same deterministic results now.
• Heightfield vs convex was not filled in in collision dispatch table. This caused sensors to assert and not detect collisions with heightfields.
• The friction applied during continuous collision detection could be sqrt(2) times too large.
• The friction was clamped independently on both tangential axis which meant that the total friction could be larger than the amount of friction that should have been allowed. It also meant that an object would slow down quicker on one axis than on another causing a curved trajectory.
• When an object wasn't moving fast enough to trigger restitution for a speculative contact, the contact was enforced at the current position rather than at the distance of the speculative contact.
• Fixed CharacterVirtual jittering issue when moving down on elevator.
• CharacterVirtual was speeding up beyond the requested speed when sliding along a wall.
• CharacterVirtual reported to be on ground for one more frame after jumping against a wall.
• Added missing delta time term in CharacterVirtual::DetermineConstraints.
• CastShape had incorrect early out condition which could cause it to miss the deepest penetration.
• Pitch/roll limit constraint for vehicles didn't work when local vehicle up did not match world up
• Wheel contact point did not return deepest point in certain cases.
• Fix for engine RPM being much higher than wheel RPM when measured at clutch. Before we were ignoring bake and wheel torques in engine RPM calculation.
• Don't allow the vehicle to sleep when the transmission is switching.
• Fixed bug that caused suspension to be weaker when driving a vehicle over dynamic bodies.