SimTK OpenSim C++ libraries and command-line applications, and Java/Python wrapping.

The real-time OpenSim extension (RTOSIM) is a set of libraries in C++ that wrap OpenSim APIs to enable the real-time computation of inverse kinematics and inverse dynamics.

High-performance C++ multibody dynamics/physics library for simulating articulated biomechanical and mechanical systems like vehicles, robots, and the human skeleton.

numpy in c++