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The osgPhysics is a C++ cross-platform library written for implementing physics simulations on the OpenSceneGraph (OSG). It is designed to be an abstraction system which supports accesses to a variety of physics engines, like ODE, Bullet, etc.
OpenSim - Open Simulator. Primarily a 3D simulator for multiple indoor and outdoor mobile robots. Includes 3D real-time rendering (via OSG) and a physics engine (via ODE). Current emphasis is on manipulators.