GPX is mainly a physics engine, written in C++, focused on real time simulations. Project also provides a graphics library, built on top of SFML. Physics part is independent from graphics library and can be used with any other front-end.
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.
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Flatland is a simple cross-platform object-oriented 2D collision library. It presents a C++ interface to the Open Dynamics Engine physics SDK. Flatland does not handle graphics, but two sample programs are available, both of which use OpenGL.