The Open Dynamics Engine (ODE), Copyright (C) 2001-2004 Russell L. Smith.
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ODE is a free, industrial quality library for simulating articulated
rigid body dynamics - for example ground vehicles, legged creatures,
and moving objects in VR environments. It is fast, flexible, robust
and platform independent, with advanced joints, contact with friction,
and built-in collision detection.

This library is free software; you can redistribute it and/or
modify it under the terms of EITHER:
  (1) The GNU Lesser General Public License as published by the Free
      Software Foundation; either version 2.1 of the License, or (at
      your option) any later version. The text of the GNU Lesser
      General Public License is included with this library in the
      file LICENSE.TXT.
  (2) The BSD-style license that is included with this library in
      the file LICENSE-BSD.TXT.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
LICENSE.TXT and LICENSE-BSD.TXT for more details.

  * Installation instructions are in the INSTALL file

  * The ODE web pages are at http://ode.org/

  * The ODE documentation is in the file ode/doc/ode.html, or you
    can view it on the web at http://ode.org/