OpenTissue is a collection of generic algorithms and data structures for rapid development of interactive modeling and simulation.
Free for commercial use, open source under the Zlib license.
Core- Atomic building blocks that are commonly used throughout all OpenTissue components, including data structures and algorithms.
Collision - Methods for detecting collisions between motion-independent objects and creating contact information.
Dynamics - Collection of methods for mathematically modeled simulations and physics-based animations, including rigid, soft, and fluid body dynamics.
Kinematics - Methods for kinematic animations, including inverse kinematics, skinning, and key-framed character animation.
GPU - Collection of general purpose algorithms and methods performed on the GPU (GPGPU).
Utility - Large collection of miscellaneous utilities, mostly for OT-based applications.
Here is a few suggestions