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Framework and set of object-oriented and/or generic libraries designed for games and virtual reality simulations. Abstracts interfaces of APIs and provides additional general and high-level functionality for rapidly creating solid applications.
MultiBrain is an experimental object oriented 3D graphic engine based on OpenGL.
It is focuses on rendering technics and physical simulation, so it was created to be an environment simulator rather then a gaming framework.
AutoMan is an extension to the SOFA: Simulation Open Framework Architecture. It provides an easier to use programming interface an allows all simulations developed therein to be run in VR.