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Spark is a physical simulation system. The primary purpose of this system is to provide a *generic* simulator for different kinds of simulations. In these simulations, agents can participate as external processes.
...Uses ODE physics and OpenGL/Inventor graphics. A differential wheels robot is provided. There is no user interface but the code is small and is intended to be easily extended for your simulations.
The mechSym toolkit is a set of classes that support
modelling classical mechanics systems with particular interset in robotic designs.
Classes simulate sensors, motors, mechanical linkages, and power.
visual time-elapsed simulations provided.