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GLOBE_3D: GL Object Based Engine for 3D. GLOBE_3D is a free, open-source, real-time 3D Engine written in Ada, based on OpenGL. Up-to-date GL bindings - portal rendering - binary space partition - object I/O - tools for importing - and more...
More information on... http://globe3d.sf.net
Alire crate: https://alire.ada.dev/crates/globe_3d
Mirror: https://github.com/zertovitch/globe-3d/
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 collision detection.
Solid is a library for collision detection 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.