Java 3D Physics Engine & Library
Latest commit 23dd052 Aug 14, 2017 @tzaeschke committed on GitHub Merge pull request #53 from ppiastucki/gimpact_capsule_depth_fix
Fix trimesh vs capsule contact depth calculation
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core-cpp Cleanup space geom list Jan 11, 2016
core Fix trimesh vs capsule contact depth calculation Aug 13, 2017
demo Improve trimesh vs convex collisions for concave trimeshes Mar 28, 2017
.gitignore Merge branch 'master' of Aug 31, 2015
GIMPACT-LICENSE-BSD.TXT mavenisation Jun 30, 2013
GIMPACT-LICENSE-LGPL.TXT Merge branch 'master' of Aug 31, 2015
J_Defines.txt Merge branch 'master' of Aug 31, 2015
LIBCCD_BSD-LICENSE Merge branch 'master' of Aug 31, 2015
LIB_CCD_README Merge branch 'master' of Aug 31, 2015
LICENSE.TXT Merge branch 'master' of Aug 31, 2015
ODE4J-LICENSE-BSD.TXT Updated readme Jul 17, 2016 Updated readme Jul 17, 2016
TODO.txt Merge branch 'master' of Aug 31, 2015
guide.txt Merge branch 'master' of Aug 31, 2015
pom.xml Merge branch 'master' of Dec 31, 2015


ode4j is a Java port of ODE.

ODE is an open source, high performance library for simulating rigid body dynamics. It is fully featured, stable, mature and platform independent with an easy to use C/C++ API. It has advanced joint types and integrated collision detection with friction. ODE is useful for simulating vehicles, objects in virtual reality environments and virtual creatures. It is currently used in many computer games, 3D authoring tools and simulation tools.

The latest released version of ode4j is 0.3.0, but the master branch contains numerous fixes and improvements. Version 0.2.4 up to 0.2.9 are ports of ODE 0.12.1, Version 0.3.0 is a port of ODE 0.13.1

ode4j contains also some features that are not present in ODE, such as a ragdoll and heightfields with holes. See Wiki.

The ODE forum is useful for questions around physics and general API usage:

The ode4j forum is for problems and functionality specific to ode4j/Java.

There is also the old website, including some screenshots.


ode4j: Copyright (c) 2009-2015 Tilmann Zäschke <ode4j(AT)>. All rights reserved.

Like the original ODE, ode4j is licensed under GPL v2.1 and BSD 3-clause. Choose whichever license suits your needs.

ode4j contains Java ports of the following software

ODE/OpenDE: Copyright (c) 2001,2002 Russell L. Smith All rights reserved.

GIMPACT: Copyright of GIMPACT (c) 2006 Francisco Leon. C.C. 80087371. email: projectileman(AT)

LIBCCD: Copyright (c) 2010 Daniel Fiser <danfis(AT)>

ode4j uses the following libraries

JUnit: Copyright © 2002-2014 JUnit. All Rights Reserved.

slf4j: Copyright © 2004-2015


Tilmann Zaeschke ode4j (AT)