Newton v1.2.1

Newton v1.2.1 is a patch release following v1.2.0. It focuses on bug fixes and compatibility updates for the 1.2 release line. For the complete list of changes, see the changelog.

Highlights

• Collision correctness fixes. Mesh-convex and heightfield-convex contacts are now generated correctly when shapes are separated by margin but still within the contact envelope. (#2916)

• Improved ArticulationView selection behavior. ArticulationView now exposes full labels for joints, links/bodies, and shapes, making it easier to disambiguate selected entries whose leaf names collide. Closed-loop link selections also now expose each physical body once for BODY-frequency accessors. (#2935, #2972)

• USD visual material import fixes. Visual mesh imports now preserve face-material UsdGeom.Subset colors and textures by splitting material subsets into separate render meshes. Collision and physics import behavior is unchanged. (#2985)

• Dependency compatibility updates. The 1.2 release line now pins warp-lang below 1.14 and newton-actuators below 0.1.1 to avoid known import-time warning compatibility issues while preserving Newton 1.2 behavior. (#3043, #3041)

## Notes

This release is intended to be API-compatible with Newton v1.2.0. No breaking changes are expected.