In short

Colosseum3D is a framework for developing interactive 3D simulations. It is built upon several open-source libraries for rendering, 3D sound, scripting, character animation and one commercial library for rigid body dynamics.

It has also support for interaction devices such as Ascention Motionstar, Polhemus Fastrak, Polhemus Liberty and Fakespace PinchGlove.
Through the Sensable OpenHaptics API it also supports Phantom force feedback devices.

The main idea with Colosseum3D is to deliver functionality in stand-alone modules. Therefore several software packages can be downloaded as-is. Examples are osgAL, OpenAL++, osgHaptics and ReplicantBody.