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PAL (Physics Abstraction Layer)
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PAL (physics abstraction layer) is a portable C++ physics abstraction API. It provides a unified interface to a number of physics engines (Bullet, ODE, PhysX...).
This enables the use of multiple physics engines within one application. It is not just a simple physics wrapper, but provides an extensible plug-in architecture for the physics system, as well as extended functionality for common simulation components.