PhySim
PhySim is a research-oriented physics simulation library in C++. This has been forever in development, planning to release it soon :)
Current key features:
Extensible and generic definition of mechanical models based on kinematic and energy components
Modeling complex kinematics and couplings using kinematic trees, with automatic derivative propagation
Common interface for static and dynamic problems, with a unified numerical solver based on optimization
A bunch of ready-to-use mechanical models: nonlinear FEM, DER, thin-shells, and articulated soft-bodies
A geometry library with a unified interface for curve, surface, and volumetric meshes with customizable traits
Easy-to-use system for the definition of boundary conditions with programmable incremental loading
Currently working on:
Unified interface for inverse design of model parameters
More robust collision detection and response system
Proper documentation and user interface :)
Check it out at GitHub