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You need to use rustup to the Rust toolchain for each target, or use cross and have Docker/Podman installed - which is pretty heavy weight.
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Probably the easiest option would be to target wgpu-native prebuilt binaries but these don't have iOS/Android (unsure if wgpu-native supports iOS/Android at all)
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Audio will probably come later, but libsoundio will be the first thing in terms of groundwork. Integrating that in the same way we've integrated GLFW, so you can just cross compile and get cross-platform audio to boot.
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Having a nice API to programmatically work with audio, though, I think is also super important. One thing I did right with a (now-defunct) engine I worked on a long time ago, Azul3D, was put together an truly nice audio library for working with samples in various formats akin to Go's image standard library (if you've ever used that, you'll know why having a common interface to manipulation is super nice.)