The Open Dynamics Engine (ODE)
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.
Installation instructions are in the INSTALL.txt file.
The ODE web pages are at ode.org.
An online manual is at the Wiki.
API documentation is in the file ode/docs/index.html, or you can view it on the web at opende.sf.net/docs/index.html.