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MyWorld is an open virtual reality and game engine. It is written and usable in C/C++. It has own abstract layers for Graphics and Physics. Actually we use Irrlicht for 3D-Rendering and GUI, and ODE for Physics. It is smart, powerful and easy to extend.
the simple universe library aims to provide a simple (possibly game-oriented) virtual reality where real-world objects and surfaces (like terrain) can be defined and simulated. Uses OpenGL and ODE.