...Particular care for internal cam. Written in standard C. There's a Windows executable ready for use, but it's compilable and playable on all Linux, BSD, MacOSX systems. Official VIDEO presentation: http://www.youtube.com/watch?v=B74QvPGyBYM
The physical simulation was written from 0 of course, so no external 'third-party' libraries are used; except GLUT+OpenGL for the graphical visualisation & good interactivity.