IBDS用于动态多体系统仿真，使用C++编写，可仿真刚体，粒子，不同铰接类型以及带摩擦碰撞。-IBDS is a library for dynamic simulation of multi-body systems in C++. It simulates rigid bodies, particles, many different joint types and collisions with friction. (ZLib license, free for commercial us