Bullet professional 3d game multiphysics library provides state of the art collision detection, soft body and rigid body dynamics.

* used by many movie and game companies in aaa titles on playstation 3, xbox
360, nintendo wii, pc, android and iphone.
* modular extendible c++ design with hot-swap of most components.
* 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.
* support for dynamic deformation of non-convex triangle meshes, by refitting
the acceleration structures.
multiphysics support including:

* rigid body dynamics including constraint solvers, generic constraints,
ragdolls, hinge, ball-socket.
* support for constraint limits and motors.
* soft body support including cloth, rope and deformable.
* bullet is integrated into blender.
* serialization of physics data in the cross-platform binary bullet file
format.
this package contains development files for bullet.