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CHAI 3D – open source C++ libraries for interactive real-time simulation

CHAI 3D is an open source set of C++ libraries for computer haptics, visualization and interactive real-time simulation. CHAI 3D supports several commercially-available three-, six- and seven-degree-of-freedom haptic devices, and makes it simple to support new custom force feedback devices. CHAI 3D is especially suitable for education and research purposes, offering a light platform on which extensions can be developed. CHAI 3D’s support for multiple haptic devices also makes it easy to send your applications to remote sites that may use different hardware.
http://www.chai3d.org/