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reacTIVision is a computer vision framework for the fast and robust tracking of markers attached on physical objects, and the creation of multi-touch surfaces. It was designed for the rapid development of table-based tangible user interfaces.
FreeSOLID is a library for collision detection of three-dimensional objects
undergoing rigid motion and deformation. FreeSOLID is designed to be used in
interactive 3D graphics applications.
OpenDragon is a collection of external objects for the Max graphical environment from Cycling '74 (http://www.cycling74.com/products/maxmsp.html) that focuses on device interfaces.