Core

• C++ API
• Multi-platform (Windows, Linux, Mac OS X)
• Application templates (GLUT, .NET, Qt)
• Threads (graphics and haptics)
• High precision clocks

Graphics

• OpenGL 2.1
• Scene graph structure
• Lighting and shadow casting
• 1D, 2D, 3D texture properties
• Material properties
• Point clouds
• Volumes
• Line segments
• Mesh objects
• Shape primitives
• 2D widgets
• Bitmap fonts
• Program shaders

Force Algorithms

• Finger-proxy model
• Voxel rendering
• Potential fields
• Coulomb friction models
• Stick-slip, viscous, vibration and magnetic effects
• Multi point contact (grasping)

Contact Detection

• Axis-aligned bounding box hierarchies

Audio

• OpenAL
• Haptic sound primitives

File support (import and export)

• Image files: .BMP .GIF .JPG .PNG .PPM .RAW
• Mesh files: .3DS .OBJ .STL
• Audio files: .WAV

Haptic Devices

• Simulated haptic devices
• delta.x
• omega.x
• sigma.x
• Novint Falcon
• Phantom
• Omni
• Touch 3D
• Razer Hydra
• Leap Motion
• Custom device integration

Modules

• Rigid body dynamics (ODE)
• Deformable models (GEL)
• Robotics Simulation (V-REP)
• Oculus Rift Head Mounted Display (OCULUS)