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DVC2D is a physical simulation library capable of simulating and animating planar systems of rigid bodies experiencing intermittent and steady unilateral contacts with friction. One can also include friction between the bodies and the plane of motio
IBDS is a library for dynamic simulation of multi-body systems in C++. It simulates rigid bodies, particles, many different joint types and collisions with friction.
(ZLib license, free for commercial use)
More infos: http://www.impulse-based.de