The Open Dynamics Engine (ODE)

ODE logo

Copyright (C) 2001-2007 Russell L. Smith.

ODE is a free, industrial quality library for simulating articulated
rigid body dynamics - for example ground vehicles, legged creatures,
and moving objects in VR environments. It is fast, flexible, robust
and platform independent, with advanced joints, contact with friction,
and built-in collision detection.

This library is free software; you can redistribute it and/or
modify it under the terms of EITHER:

  • The GNU Lesser General Public License version 2.1 or any later.

  • The BSD-style License.

See the COPYING file for more details.