0.3.2

This minor release fixes a few additional regressions and initiates migration to our own open-source fork of Taichi, GsTaichi (contributions are welcome!).

Behavior Changing

• Disable decimation if deemed unnecessary and unreliable. Reduce default aggressiveness. (@duburcqa) (#1644)
• Fix primitive and mesh's COM. (@YilingQiao) (#1638)

New Features

• Add 'set_dofs_frictionloss' method for dynamic joint friction control. (@LeonLiu4) (#1614)
• Add initial experimental support of gstaichi fast cache feature. (@hughperkins) (#1631)
• Add 'ref' optional argument to 'get_links_pos'. (@YilingQiao) (#1638)

Bug Fixes

• Fix Inverse Kinematics algorithm. (@Kashu7100, @duburcqa) (#1582, #1586)
• Fix save frame as png image in interactive viewer. (@Kashu7100) (#1606)
• Filter out collision pairs involved in weld equality constraints. (@duburcqa) (#1621)
• Fix viewer backend fallback when running in main thread. (@duburcqa) (#1630)
• Fix 'quat_to_xyz' singularity edge-case. (@duburcqa) (#1628)
• Fix CUDA runtime being initialized by 'get_device'. (@duburcqa) (#1634)

Miscellaneous

• Re-enable world-frame in the 'gs view' standalone viewer. (@Kashu7100) (#1584)
• Migrate from 'taichi' to 'gstaichi'. (@duburcqa, @hughperkins) (#1550, #1618, #1645)
• Update documentation so the doc will be compiled based on the latest main. (@YilingQiao) (#1616)