ode: ODE high performance library for simulating rigid body dynamics.
ode: 
ode: It is fully featured, stable, mature and platform independent with an
ode: easy  to  use C/C++ API. It  has advanced  joint types and integrated
ode: collision detection  with  friction.  ODE  is  useful  for simulating
ode: vehicles,   objects  in  virtual  reality  environments  and  virtual
ode: creatures. It is currently used in  many computer games, 3D authoring
ode: tools and simulation tools.
ode:                      http://www.ode.org/
ode:                         WWW.SLACKY.IT
ode: PackaGer Gohanz.