kdFlex 1.1.5 release

leake · July 15, 2026, 11:08pm

kdFlex 1.1.5 Code Changes Summary

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

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.

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.

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