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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.
Step is an interactive physical simulation program for education. StepCore is a physical simulation library on which Step is based. Please refer to http://edu.kde.org/step for more details.
Ruby-Newton is a Ruby wrapper for the NewtonGameDynamics physics engine ( http://newtondynamics.com/ ) It brings object-oriented real-time animated physics simulations to Ruby-enabled applications (e.g. 3D modeling tool with interactive scripting support