Bullet 3D Game Multiphysics Library provides state of the art collision detection, soft body and rigid body dynamics.

• Used by many game companies in AAA titles on Playstation 3, XBox 360, Nintendo Wii, PC and iPhone
• Modular extendible C++ design with hot-swap of most components
• Optimized back-ends with multi-threaded support for Playstation 3 Cell SPU, CUDA, OpenCL and other platforms
• 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 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 3D and provides a Maya Plugin
• Supports import and export into COLLADA 1.4 Physics format
• Support for dynamic deformation of non-convex triangle meshes, by refitting the acceleration structures

The Library is free for commercial use and open source under the ZLib License.