I have been playing with the Open Dynamics Engine for a couple of days.
http://www.ode.org/
This is a simple hinge tests, the green one is rotated, the blue one is
pulled along with it. So far, the simulation engine looks very fast and
stable.
I use a little C program to call the ODE library and save the object
transformations to a text file. the transformations are then read by a
povray file  and the objects are placed using the matrix transform in
povray.
It looked nice with radiosity rendering, so here it is.

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