OPAL (software)
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The Open Physics Abstraction Layer (OPAL) is an open source realtime physics engine API. It was originally built off of ODE, but can run off of multiple engines now. OPAL is free software, released under both the LGPL and the BSD license.
OPAL is a high-level interface for low-level physics engines used in games, robotics simulations, and other 3D applications. Features a simple C++ API, intuitive objects (e.g. Solids, Joints, Motors, Sensors), and XML-based file storage for complex objects.
The latest version of OPAL is 0.4.0
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