SPEAR stands for Simulator of Physiscal Environment for Agents (Animats) Research.
It is a fast library designed to conduct heavy calculations regarding
multi-agents system. It includes as well a mechanic and dynamic engine
in order to make this simulations rather realistic.
SPEAR is in C++ and released with the General Public License. It is provided as this with no warranty.
Features included :
Creation of realistic environments
exact 2D collision detection
Easy multi-agent programming via inheritance
OpenGL or X window displays easily bypassable
Display server for distant monitoring
Wide range of simulated sensors
Very well UNdocumented (perhaps shouldn't be there :(
Optionnally, open SPEAR can wrap ODE enabling :
3D collision detection
Joint, force & torque calculation