open SPEAR

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

Highly interfacable

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