and SDL (Simple Directmedia Layer).
ODE is used mainly for rigid bodies simulation, but can be used to simulate soft bodies
by adjusting the ERP and CFM parameter.
Keyboard Controls:
1 - drop a full box of spheres.
2 - drop an empty box.
3 - drop a cylinder.
4 - drop a cloth.
5 - create a static sphere.
6 - drop a full box of boxes.
0 - drop a bean.
s - show(on/off) reflections.
j - show(on/off) joints.
r - reset .
q - squeeze (for the tool).
e - pull apart (for the tool).
Mouse Controls: (for the tool)
Left Click - fire a ball.
Right Click - fire a cylinder.
Scroll Up - ascend.
Scroll Down - descend.
Moving the Mouse - move the tool.
Here are some screenshots:
I give credits to Adam (a lot!), ODE, and SDL.