1. Introduction 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 man
![Open Dynamics Engine](https://cdn-ak-scissors.b.st-hatena.com/image/square/ac30eac595775a92fb37b026b44f0cab3da03ab1/height=288;version=1;width=512/http%3A%2F%2Fode.org%2Fpix2%2Fodelogo.jpg)