ODE is an open source, high performance library for simulating rigid body dynamics. It is fully featured, stable, mature and platform independent with an easy to use C/C++ API. It has advanced joint types and integrated collision detection with friction. ODE is useful for simulating vehicles
... [More], objects in virtual reality environments and virtual creatures. It is currently used in many computer games, 3D authoring tools and simulation tools. [Less]
Extensible framework for explicit dynamic particle models (discrete element model, lattice model), primarily targeted at material research (civil engineering materials such as concrete, geomechanics).
SOLID (Software Library for Interference Detection) is a software library containing functions for performing intersection tests and proximity queries that are useful in the context of collision detection.
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