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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 collisiondetection.
InertiaEngine is a 2D rigid body physic engine written in C++ and is not OS dependent. It is designed to be very user friendly. It contains also a 2D convex polygon collisiondetection engine. It supports collision response, static friction, kinetic fric
GTS provides a set of useful functions to deal with 3D surfaces meshed with interconnected triangles including collisiondetection, multiresolution models, constrained Delaunay triangulations and robust set operations (union, intersection, differences).