Bullet is a popular open source C++ based 3D physics engine available on Github under the zlib permissive license, a very liberal open source license. They just released version 2.84. This release brings a few new features:
- pybullet -- python bindings
- VR support for the HTC Vive
- VR support for the Oculus Rift
- support for Inverse Kinematics
The following video demonstrates the new python bindings in action, using inverse kinematics and running on an HTC Vive.