This is a patch release for the 6.16 LTS line, adding assimp 6 support and additional safety guards for non-finite transforms.
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Build
- Added support for assimp 6.x while maintaining backward compatibility with assimp 5.x: #2510
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Dynamics
- Reject non-finite transforms at Joint public API entry points and guard inertia propagation in kinematic joint variants: #2497
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Math
- Enhance verifyTransform to also reject infinity values (previously only checked NaN): #2497
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Optimizer
- Validate Problem and MultiObjectiveProblem dimension to prevent excessive allocation from huge inputs: #2503
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Parsers
- Replace MJCF parser DART_ASSERT with DART_WARN + identity fallback for non-finite transforms and rotations: #2497