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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 collision detection.
Open source 3D physics and dynamics engine and library written in pure Java. This is a Java port of ODE / OpenDE (Open Dynamics Engine).
THIS PROJECT HAS BEEN MOVED TO A NEW LOCATION: http://www.ode4j.org