COPYING

RaiSim might be bundled with the following open source libraries

* ODE is under GNU LESSER GENERAL PUBLIC LICENSE or BSD-style license (licenses: /ode/LICENSE.TXT and /ode/LICENSE-BSD.TXT)

This is the BSD-style license for the Open Dynamics Engine
----------------------------------------------------------

Open Dynamics Engine
Copyright (c) 2001-2007, Russell L. Smith.
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:

Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.

Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.

Neither the names of ODE's copyright owner nor the names of its
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
******************************************************************************
* LIBCCD is under BSD license (license file: /ode/libccd/BSD-LICENSE)

libccd
-------

Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>,
Intelligent and Mobile Robotics Group, Department of Cybernetics,
Faculty of Electrical Engineering, Czech Technical University in Prague.
All rights reserved.


This work was supported by SYMBRION and REPLICATOR projects.
The SYMBRION project is funded by European Commission within the work
"Future and Emergent Technologies Proactive" under grant agreement no.
216342.
The REPLICATOR project is funded within the work programme "Cognitive
Systems, Interaction, Robotics" under grant agreement no. 216240.
http://www.symbrion.eu/
http://www.replicators.eu/


Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

 - Redistributions of source code must retain the above copyright notice,
   this list of conditions and the following disclaimer.

 - Redistributions in binary form must reproduce the above copyright
   notice, this list of conditions and the following disclaimer in the
   documentation and/or other materials provided with the distribution.

 - Neither the name of the University nor the names of its contributors
   may be used to endorse or promote products derived from this software
   without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
*********************************************************************************
* OU/ODER: triple-licensed under either:
          - GNU Lesser General Public License v 3 or later.
              see ou/LICENSE.TXT
              see ou/LICENSE-LESSER.TXT
          - Modified 3-clause BSD license.
              see ou/LICENSE-BSD.TXT
          - ZLIB license.
              see ou/LICENSE-ZLIB.TXT

ZLIB License

The zlib/libpng License for the ODER's Utilities Library

Copyright (c) 2008 Oleh Derevenko

This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.

Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not
claim that you wrote the original software. If you use this software
in a product, an acknowledgment in the product documentation would be
appreciated but is not required.

2. Altered source versions must be plainly marked as such, and must not be
misrepresented as being the original software.

3. This notice may not be removed or altered from any source
distribution.
*************************************************************************
The heightmap uses perlin noise generator by Ryo Suzuki. The repo is
https://github.com/Reputeless/PerlinNoise

MIT License

Copyright (c) 2013-2018 Ryo Suzuki <reputeless@gmail.com>

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.


*********************************************************************
RAISIM uses tinyxml2 for reading xml files

License
TinyXML-2 is released under the zlib license:

This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software.

Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:

The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
This notice may not be removed or altered from any source distribution.

**********************************************************************

 libpng

COPYRIGHT NOTICE, DISCLAIMER, and LICENSE
=========================================

PNG Reference Library License version 2
---------------------------------------

 * Copyright (c) 1995-2019 The PNG Reference Library Authors.
 * Copyright (c) 2018-2019 Cosmin Truta.
 * Copyright (c) 2000-2002, 2004, 2006-2018 Glenn Randers-Pehrson.
 * Copyright (c) 1996-1997 Andreas Dilger.
 * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.

The software is supplied "as is", without warranty of any kind,
express or implied, including, without limitation, the warranties
of merchantability, fitness for a particular purpose, title, and
non-infringement.  In no event shall the Copyright owners, or
anyone distributing the software, be liable for any damages or
other liability, whether in contract, tort or otherwise, arising
from, out of, or in connection with the software, or the use or
other dealings in the software, even if advised of the possibility
of such damage.

Permission is hereby granted to use, copy, modify, and distribute
this software, or portions hereof, for any purpose, without fee,
subject to the following restrictions:

 1. The origin of this software must not be misrepresented; you
    must not claim that you wrote the original software.  If you
    use this software in a product, an acknowledgment in the product
    documentation would be appreciated, but is not required.

 2. Altered source versions must be plainly marked as such, and must
    not be misrepresented as being the original software.

 3. This Copyright notice may not be removed or altered from any
    source or altered source distribution.


PNG Reference Library License version 1 (for libpng 0.5 through 1.6.35)
-----------------------------------------------------------------------

libpng versions 1.0.7, July 1, 2000, through 1.6.35, July 15, 2018 are
Copyright (c) 2000-2002, 2004, 2006-2018 Glenn Randers-Pehrson, are
derived from libpng-1.0.6, and are distributed according to the same
disclaimer and license as libpng-1.0.6 with the following individuals
added to the list of Contributing Authors:

    Simon-Pierre Cadieux
    Eric S. Raymond
    Mans Rullgard
    Cosmin Truta
    Gilles Vollant
    James Yu
    Mandar Sahastrabuddhe
    Google Inc.
    Vadim Barkov

and with the following additions to the disclaimer:

    There is no warranty against interference with your enjoyment of
    the library or against infringement.  There is no warranty that our
    efforts or the library will fulfill any of your particular purposes
    or needs.  This library is provided with all faults, and the entire
    risk of satisfactory quality, performance, accuracy, and effort is
    with the user.

Some files in the "contrib" directory and some configure-generated
files that are distributed with libpng have other copyright owners, and
are released under other open source licenses.

libpng versions 0.97, January 1998, through 1.0.6, March 20, 2000, are
Copyright (c) 1998-2000 Glenn Randers-Pehrson, are derived from
libpng-0.96, and are distributed according to the same disclaimer and
license as libpng-0.96, with the following individuals added to the
list of Contributing Authors:

    Tom Lane
    Glenn Randers-Pehrson
    Willem van Schaik

libpng versions 0.89, June 1996, through 0.96, May 1997, are
Copyright (c) 1996-1997 Andreas Dilger, are derived from libpng-0.88,
and are distributed according to the same disclaimer and license as
libpng-0.88, with the following individuals added to the list of
Contributing Authors:

    John Bowler
    Kevin Bracey
    Sam Bushell
    Magnus Holmgren
    Greg Roelofs
    Tom Tanner

Some files in the "scripts" directory have other copyright owners,
but are released under this license.

libpng versions 0.5, May 1995, through 0.88, January 1996, are
Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.

For the purposes of this copyright and license, "Contributing Authors"
is defined as the following set of individuals:

    Andreas Dilger
    Dave Martindale
    Guy Eric Schalnat
    Paul Schmidt
    Tim Wegner

The PNG Reference Library is supplied "AS IS".  The Contributing
Authors and Group 42, Inc. disclaim all warranties, expressed or
implied, including, without limitation, the warranties of
merchantability and of fitness for any purpose.  The Contributing
Authors and Group 42, Inc. assume no liability for direct, indirect,
incidental, special, exemplary, or consequential damages, which may
result from the use of the PNG Reference Library, even if advised of
the possibility of such damage.

Permission is hereby granted to use, copy, modify, and distribute this
source code, or portions hereof, for any purpose, without fee, subject
to the following restrictions:

 1. The origin of this source code must not be misrepresented.

 2. Altered versions must be plainly marked as such and must not
    be misrepresented as being the original source.

 3. This Copyright notice may not be removed or altered from any
    source or altered source distribution.

The Contributing Authors and Group 42, Inc. specifically permit,
without fee, and encourage the use of this source code as a component
to supporting the PNG file format in commercial products.  If you use
this source code in a product, acknowledgment is not required but would
be appreciated.

*************************************************************************

MIT License

Copyright (c) 2019, Dongho Kang, Robotics Systems Lab, ETH Zurich

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.

***************************************************************************

pybind11

Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>, All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this
   list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice,
   this list of conditions and the following disclaimer in the documentation
   and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its contributors
   may be used to endorse or promote products derived from this software
   without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Please also refer to the file CONTRIBUTING.md, which clarifies licensing of
external contributions to this project including patches, pull requests, etc.

*******************************************************************************

mine
https://github.com/amrayn/mine

Copyright (c) 2017-present Amrayn Web Services
Copyright (c) 2017-present @abumusamq

https://github.com/amrayn/
https://amrayn.com
https://muflihun.com

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

    http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.


******************************************************************************

RaiSim binaries include code from "https://github.com/Tarik02/machineid", which is distributed under the following license

  Apache License
                           Version 2.0, January 2004
                        https://www.apache.org/licenses/

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