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.