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
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.