Open Dynamics Engine，物理/力学模拟的SDK，解决碰撞检测，刚体运动等，非常适合于游戏开发。-Open Dynamics Engine, physical / mechanical simulation of the SDK, solution collision detection, rigid-body movement, is well suited to game development.

物理运动模拟的代码.. Collisions are done with impulses. Constraints are done with impulses. Resting contact is treated as a constraint, implemented by doing an inelastic collision. Joints are also done using constraints/impulses.-physical motion simula

游戏物理学中柔体运动模拟程序源代码-game physics Sophie Motion simulation program source code