kdFlex 1.1.5 Code Changes Summary

API Changes

• Refactored Multibody to create and manage a ProxyScene instance, and removed Multibody.setScene. In most cases, users should use Multibody.getScene rather than creating a separate ProxyScene instance.
• Removed the stb_image third party dependency.
• Moved integrator creation functionality to new factory function ki::createIntegrator and refactored internal inheritance tree.
• Now most set coordinate methods return a bool true value if the new values were accepted. docs

New Features

• Added the karana-convexify utility, which can be used to convert an arbitrary mesh file to a set of convex hulls more suitable for collision detection. See karana-convexify --help for usage and arguments.
• Added the PinVelControl model which controls the angular rate of a PinSubhinge.
• Added support for implicit adaptive Runge-Kutta integrators and expanded support for explicit adaptive RK integrators.
• Added fixed-step mode for explicit RK integrators for time-limited scenarios.
• Added more tuning options for adaptive-step time integrators.
• Added support for asynchronous data logging and buffered writes via PacketTableConfig.
• KModels can now be easily be run in parallel. This makes use of CallbackRegistry’s new ability to run callbacks in parallel. The ModelManager::runKModelsInParallel helper method makes doing this convenient. See running KModels in parallel for more details.
• Added the ParallelVehicles KModel that can be used to run trivially parallelizable vehicles in parallel to improve performance. See running vehicles in parallel for details.

Enhancements

• Optimized speed and filesize when serializing Scene.StaticMeshGeometry to YAML or JSON.
• Improved error messages in WebUI.HttpWsServer when there is an issue binding to the port.
• The macOS release now uses Python 3.14, the default Python version on homebrew.
• Added convertsion to/from common time types to/from ephemeris time in TimeKeeper. See working with simulation time for more details.

Bug Fixes

• Fixed an instancing issue where non-primitive geometries would not appear in web scenes due to an id mismatch.