Tokamak Physics Engine is a high performance real-time physics library designed specially for games. It supports various physics constraints and has built-in collision function.
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Excellent, I tested ODE, Bullet and Tokamak, and as a beginner in physics engines, Tokamak looks very brillant. =D (it's quite subjective, but its design seems more natural to me)
I hate and love it :-) i spent too much time to find the bug with the capsule without succes.
This is a genuine piece of craftsmanship! Good work!