Odejava project allows to use Open Dynamics Engine (ODE) with Java. A free, industrial quality library for simulating articulated rigid body dynamics - for example ground vehicles, legged creatures, and moving objects in VR environments. It's fast, flexible & robust. Built-in collision detection. ODE is coded with C and Odejava wraps ODE native functions into Java. API is divided in lower level and higher level. Project also contains tools for binding Odejava into Xith3D, jME and Openmind scenegraph projects. Special thanks for William Dennis and Artur Matos for contributing into this project.
See also http://odejava.org