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ODE is an open source, high performance library for simulating rigid body dynamics. It is fully featured, stable, mature and platform independent with an easy to use C/C++ API. It has advanced joint types and integrated collision detection with friction. ODE is useful for simulating vehicles, objects in virtual reality environments and virtual creatures. It is currently used in many computer games, 3D authoring tools and simulation tools. Russell Smith is the original author of ODE. Go to the Wiki The ODE Wiki is now the primary source of information about ODE, as ode.org is infrequently updated. Consult the wiki for the latest documentation. Get the source code here. See the list of applications that are using ODE. Here are the Instructions for building and using ODE.
brew install ode