Expressive traits hierarchy from the most simple simple algebraic entities (like magmas) to more complex ones (like transformation groups).

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Efficient vector and matrix operations and decompositions. Broad range of transformations like quaternions, isometries, similarities, etc.

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Efficient distance measures, interference tests, contact points computation, ray-casting, time-of-impact computation, etc. in both 2D and 3D.

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Real-time physics engines for both 2D and 3D applications like video games, robotics, or animation. Implements rigid-body as well as multibody simulations.

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