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Purpose 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. News May 16, 2006: Version 0.4.0 released. October 19, 2005: Version 0.3.1 released. April 21, 2005: Version 0.3.0 released. February 10, 2005: Version 0.2.0 released. November 1, 2004: Version 0.1.0 released. Supported Physics Engines Open Dynamics Engine Current Features 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 o Boxes o Spheres o Capsules (i.e. capped cylinders) o Planes User-defined triangular mesh collision detection (best for terrains) Joints o Hinge joints (one rotational degree of freedom) o Universal joints (two rotational degrees of freedom) o Ball joints (three rotational degrees of freedom) o Wheel joints (two rotational degrees of freedom) o Slider joints (i.e. prismatic joints; one translational degree of freedom) o Fixed joints (zero degrees of freedom) Motors o Attractor motors (provide gravitational attraction between two objects) o Geared motors (simplified automobile engines) o Servo motors (use limited torque to achieve a desired angle or velocity; similar to PD/PID controllers) o Spring motors (simple damped springs; pull objects to a desired position and/or orientation) o Thruster motors (provide a constant force on an object) Sensors o Acceleration sensors o Incline sensors o Raycast sensors o Volume sensors Event handlers o Collision event handler (notified when objects collide) o Joint break event handler (notified when a joint breaks) o Post-step event handler (notified at the end of each time step) Planned Features XML file saving OPAL XML exporter for Blender

OPAL is Copyright © 2004-2005 Alan Fischer, Andres Reinot, and Tyler Streeter