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Multi-Joint dynamics with Contact. A general purpose physics simulator
...The platform includes built-in interactive visualization using OpenGL and a native graphical interface for analyzing and testing simulations. Additionally, it offers extensive utility functions for physics computation, Python bindings for developers, and a Unity plug-in to enable integration with game engines and visualization tools.
Unity Converter is the software, which have really good tools to convert many kinds of unity, it helps people whose works with physics too much, and also people who are engineer.