Moby

Moby is a C++ library for dynamic simulation of rigid and multi-bodies (including robots). Moby incorporates cutting edge technology, including (1) Featherstone's O(n) dynamics algorithm; (2) continuous collision detection; (3) impulse-based contact methods; (4) OpenMP parallelism; and (5) smart pointers.

The Moby project is hosted on SourceForge.

compgeom

compgeom is a C++ library that contains implementations of fast algorithms for computational geometry, including 2D line segment intersection, 2D convex polygon intersection, 2D/3D convex hull computation, polyhedron intersection, and more.

MPlanner

MPlanner is a C++ library for motion-planning with implementations of recent algorithms including probabilistic roadmaps, dual-tree RRT, and operational-space RDTs (RDT-IK). Doxygen commented, and actively used and maintained (by me).