Articulated-body simulation engine written in C: based on the Lagrangian Dynamics, even if on a modified flavour of it, I deviced to make it more friendly in the context of numerical simulations.
The overall simulation procedure (de facto a full 3D, an articulated-body simulaiton engine) is called:
"Lagrangian Dynamics' New Flavour Simulations".
It is delivered through sample-simulators relying on it.
The modified falvour of the Lagrangian Dynamics here proposed is also a bit simpler to use...