ODE is a 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.
Bullet is a 3D game multiphysics library that provides state of the art collision detection and soft body and rigid body dynamics. Bullet is integrated into Cinema 4D, Lightwave, and Blender. A Houdini and Maya Plugin is available. It has a modular extendible C++ design with hot-swap of most components. The back-ends were optimized for pthreads/Win32 Threads multi-threading and PS3 Cell SPU. Other features include discrete and continuous collision detection (CCD), swept collision queries, ray casting with custom collision filtering, generic convex support (using GJK), capsule, cylinder, cone, sphere, box, and non-convex triangle meshes. Rigid body dynamics include constraint solvers, generic constraints, ragdolls, hinges, and ball-sockets. Constraint limits and motors are supported. Soft body support includes cloth, rope, and deformable objects. Import and export into COLLADA 1.4 Physics format is supported. Dynamic deformation of non-convex triangle meshes is supported by refitting the acceleration structures.
The Particle System API allows C++ application developers to easily include dynamic simulations of groups of moving objects. The API is much lighter weight than a full physics engine. It is especially useful for eye candy in games and screen savers, but is also used in off-line animation software. With the Particle System API you create a group of particles, then describe the components of the particle effect using actions like Gravity(), Explosion(), and Bounce(). You apply the actions to the particle group at each time step, then read back the particle positions and other attributes into your app, or send them directly to the GPU as a vertex array or as geometry instances.
CS::SkipList Library is a C++ template library of containers based on skip lists. These containers work like sets and maps, but can also be accessed via numerical index. This collection has vector-like containers where all operations work in logarithmic time. It also has a composite container where you can order the same elements in many different ways at the same time.
libdwarf is a library and command line tool for manipulating DWARF data in ELF object files. The DWARF Debugging Information Format is of interest to programmers working on compilers and debuggers. All libdwarf distributions contain C source, the DWARF2 specification, and libdwarf specifications. Implementors often extend DWARF by adding new attributes and other things.