April 29, 2025

SDK 44

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New Engine features:

• New Engine and Core SDK release for the Apple tvOS platform.
• MuJoCo physics plugin for enhanced robotic and precision simulations.
• Introduced Inverse Kinematics plugin for Nodes and Bodies.
• GCC compiler compatibility.

Plugin changes:

• New MuJoCo Physics Plugin. Enables high-precision simulation for robotics and mechanical systems.
• New Inverse Kinematics Plugin. Jacobian-based solver supporting both positional and rotational targets. Automatically converts Slider, Hinge, and Ball joints from physics scene representations.
• Consistent Six Degrees Of Freedom joint behavior is now uniform across all physics plugins.
• Physics plugins now update joint positional parameters back into the engine for real-time state tracking.
• All motorized joints now support Servo motor mode with constant velocity across all physics plugins.
• The WebClient plugin now provides detailed information for HTTP error codes.

Tools changes:

• Selection-by-Name Dialog has been added to the Explorer for quicker object access.
• Enhanced Joints configuration for precision and usability within the Explorer.
• Rotation and scale Explorer’s operations can now use Local, Common, or Selected centers.
• Improved JointSixDof configuration with sliders for more interactive control.
• Tellusim project file generator now supports creating Xcode projects for tvOS.

Sample changes:

• New physics_domino, physics_ball, and physics_servo scenes have been added.
• New tests/platform/integer sample demonstrates native and emulated 64-bit integer operations.
• The tests/render/memory sample demonstrates minimal render and scene footprint.
• The tests/render/procedural demonstrates procedural object injection with full shadow support from fragment and compute shaders.
• SampleScene and SampleRender classes now maintain global self-pointers, making them always accessible during runtime.

API changes:

• Device::bindBuffer() methods for sparse buffer memory allocations have been added.
• TellusimNumerical classes support variable-sized resources; storage shape is defined via templates, but computations can target smaller domains for all operations, including LU, QR, and SVD algorithms.
• TellusimSimd is now GCC-compatible. The float16_t type is encapsulated in the f16 sub-structure (replacing the unnamed struct).
• SpatialTree::dispatchIndirect() now accepts a flags argument to allow update-only BVH indirect operations.
• New RenderDraw::drawArc() method supports drawing arc shapes.
• New RenderRenderer::FlagSurfaceTextures flag applies Texture::FlagSurface to all RenderFrame textures.
• Scene rendering now allows custom shadow and reflection intersection shader functions via the SceneRenderer interface.
• Added callbacks for deferred light kernel creation and bind operations.
• Motor stiffness and damping coefficients added to all motorized joints.
• New system/TellusimtvOS header added for tvOS-specific methods.
• Cache directory name is now available through iOS and tvOS interfaces.
• New Atomici64 type added to core/TellusimAtomic.h.
• Locking behavior of SixDof joints changed; setLinear|AngularLock() now uses a mask to control axes.

Internal Clay features:

• GCC compiler compatibility.
• Added support for i|umulExtended, uaddCarry, and usubBorrow GLSL functions across all platforms.
• OpenCL-based GPU core and memory queries have been added to the Info class, providing detailed GPU information on macOS.