Major new functionality

• Simulation is now deterministic between Windows, Linux and macOS.
• Support for custom memory allocators.
• A new character class that lives outside the main simulation update and is mainly used for player movement (CharacterVirtual).
• Implemented skeleton mapper that can convert an animated skeleton to a ragdoll skeleton and back.
• Rack and pinion, gear and pulley constraints have been added.
• Ability for sensors to detect collisions with sleeping bodies.
• Improved engine model for wheeled vehicles.
• Most constraints can now also be configured in local space.

New supported compilers

• MinGW
• GCC

New supported platforms

• All intel platforms supporting SSE2 and higher (was SSE4.2)
• 32-bit applications (was 64 bit only)
• Windows on ARM
• Windows UWP
• macOS
• iOS
• WebAssembly

For breaking API changes see this document.