ODE

ODE is an impressive software library designed to simulate articulated rigid body dynamics. With its wide range of capabilities, it can accurately simulate various objects and environments, from ground vehicles and legged creatures to VR environments. Not only is ODE free of charge, but it also boasts an industrial-quality performance that is fast, flexible, and of course, robust.

One of the most notable features of this software library is its built-in collision detection system. This system offers a seamless experience when it comes to detecting and handling collisions, keeping simulations running smoothly and accurately. It is important to note that ODE is licensed and distributed under the terms of the BSD License and GNU Library or Lesser General Public License (LGPL), ensuring that it's both trustworthy and reliable.

Overall, ODE is an ideal choice for anyone who needs a powerful, efficient, and accurate simulation library that's versatile enough to handle different scenarios. It's user-friendly, free, and offers the kind of advanced features that make it a top-of-the-line software program.