Box3D very similar like as newton-dynamics.

[Ronniko]

I found tutor newton
// Create the Newton world.
NewtonWorld* const world = NewtonCreate();

NewtonCollision* const cs_sphere = NewtonCreateSphere(world, 1, 0, NULL);
NewtonCollision* const cs_ground = NewtonCreateBox(world, 100, 0.1, 100, 0, NULL);

// Step the (empty) world 60 times in increments of 1/60 second.
const float timestep = 1.0f / 60;
for(int i=0; i<60; i++) {
NewtonUpdate(world, timestep);
}

// Clean up.
NewtonDestroyAllBodies(world);
NewtonDestroy(world);