RealityKit

https://developer.apple.com/documentation/realitykit/

"RealityKit provides high-performance 3D simulation and rendering capabilities you can use to create visionOS apps or to create augmented reality (AR) apps for iOS, macOS, and tvOS. RealityKit is an AR-first 3D framework that leverages ARKit to seamlessly integrate virtual objects into the real world"

ARKit is a framework for interacting with the real world on iOS devices. It provides tools and APIs that enable developers to track the real-world environment, detect horizontal and vertical planes, and place virtual objects in the scene. 

RealityKit is a higher-level framework that builds on top of ARKit. It is designed to simplify the creation of AR experiences by providing tools for working with 3D objects, animations, and physics simulations. RealityKit offers features like creating 3D models from a collection of pictures, support for custom shaders, procedural mesh generation, and the building of custom Entity Component Systems. 

https://developer.apple.com/documentation/visionOS/understanding-the-realitykit-modular-architecture

Understanding the Modular Architecture

Requirements

It requires Xcode 11 or later and an iOS device with an A12 or later processor.