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A free, industrial quality library for simulating articulated rigid body dynamics - for example ground vehicles, legged creatures, and moving objects in VR environments. It's fast, flexible & robust. Built-in collisiondetection.
GTS provides a set of useful functions to deal with 3D surfaces meshed with interconnected triangles including collisiondetection, multiresolution models, constrained Delaunay triangulations and robust set operations (union, intersection, differences).
Solid is a library for collisiondetection of three-dimensional objects undergoing rigid motion and deformation. Solid is designed to be used in interactive 3D graphics applications using a VRML-like scene graph.