ODE is a high performance library for simulating rigid body dynamics. It is fully featured, stable, mature, and platform independent with an easy-to-use C/C++ API. It has advanced joint types and integrated collision detection with friction. ODE is useful for simulating vehicles, objects in virtual reality environments, and virtual creatures. It is currently used in many computer games, 3D authoring tools, and simulation tools.
ARS (Autonomous Robot Simulator) is a physically-accurate simulation suite for research and development of mobile manipulators and, in general, any multi-body system. It is modular, easy to learn and use, and can be a valuable tool in the process of robot design, in the development of control and reasoning algorithms, and in teaching and educational activities. It will encompass a wide range of tools spanning from kinematics and dynamics simulation to robot interfacing and control.
Visualization Library is C++ middleware for high-performance 2D and 3D graphics applications based on the industry standard OpenGL 1.x-4.x, designed to develop portable applications for the Windows, Linux and Mac OS X operating systems. It supports advanced features like OpenGL Shading Language, Volume Rendering, Isosurface extraction, Frame Buffer Objects, Multiple Render Targets, Vertex and Pixel Buffer Objects, KdTree/AABB frustum culling, a multilingual Unicode-based text engine, advanced texturing, DDS cubemaps, mipmaps, compressed textures, and much more. Visualization Library can be especially useful in 3D/2D scientific visualization, virtual reality, augmented reality, visual simulation, data visualization, presentations, multimedia applications, special effects, and 3D/2D games.