The Open Dynamics Engine (ODE), is a real-time physics engine software development kit. Its two main components are a rigid body dynamics simulation engine and a collision detection engine. It is free software licensed both under the BSD license and the LGPL.
ODE was started in 2001 and has already been used in many applications and games, such as BloodRayne 2.
Supported Geomotries: Box Sphere Capsule Trimesh(although dynamic trimesh and trimesh-tribesh are still incomplete)
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