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Rigs of Rods is a free/libre soft-body physics simulator mainly targeted at simulating vehicle physics. The soft-body physics system is based on mass-spring-damper theory.
This is a mirror of the Rigs of Rods GitHub repository: https://github.com/RigsOfRods/rigs-of-rods
The old SourceForge project can be found here: https://sourceforge.net/projects/rigsofrods/