opal OPAL is a high-level interface for low-level physics engines used in games, robotics simulations, and other 3D applications.
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physics engine Robotics simulations robotics simulations high-level interface OPAL

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OPAL is a high-level interface for low-level physics engines used in games, robotics simulations, and other 3D applications. 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.Here are some key features of "OPAL":· Open Source · Cross-platform · Tested on Linux, Irix, Windows, and Mac OS X · XML file loading · OPAL XML exporter for 3ds Max · Breakable joints · Linear and angular motion damping · Per-shape material settings · Contact groups (define which objects can interact physically) · Collision detection primitive shapes · Boxes · Spheres · Capsules (i.e. capped cylinders) · Planes · User-defined triangular mesh collision detection (best for terrains) · Joints · Hinge joints (one rotational degree of freedom) · Universal joints (two rotational degrees of freedom) · Ball joints (three rotational degrees of freedom) · Wheel joints (two rotational degrees of freedom) · Slider joints (i.e. prismatic joints; one translational degree of freedom) · Fixed joints (zero degrees of freedom) · Motors · Attractor motors (provide gravitational attraction between two objects) · Geared motors (simplified automobile engines) · Servo motors (use limited torque to achieve a desired angle or velocity; similar to PD/PID controllers) · Spring motors (simple damped springs; pull objects to a desired position and/or orientation) · Thruster motors (provide a constant force on an object) · Sensors · Acceleration sensors · Incline sensors · Raycast sensors · Volume sensors · Event handlers · Collision event handler (notified when objects collide) · Joint break event handler (notified when a joint breaks) · Post-step event handler (notified at the end of each time step)What's New in This Release:· Many bugfixes, unit tests, and enhancements.· New features: handling a large number of object updates, a new motor, better joint damage monitoring, and enhanced event handling.· The project has been migrated to Subversion.

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