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How to find a good skeletal animation library?

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Hi there
I'm currently one of the developers of Cal3D and Collada DOM projects. Unfortunatelly, Collada format has not a good specification for skeletal animations. Also Cal3D project is old and is no longer active. I need another skeletal animation library that has a good exporter for maya and is powerfull and easy to use. We have searched and found hunmanIK. But it's not free. We need something like HumanIK that is free. Any suggestions?

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