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.
A Java library that works with Java3D to simulate and visualize, in real-time, dynamics of multiple rigid bodies that are restricted by implicit and explicit constraints (e.g., robotics); designed for efficiency, ease-of-use, and extensibility.