I'm looking for a lightweight, pure Java physics engine to do some simulations for robotic motion control.
My requirements:
- Rigid body physics
- Joint constraints and forces
- Convex object collision detection
- Lightweight, pure Java so it can be embedded in my application
- Ability to run simulations quickly
- Handles 50-100 objects comfortably
- Open source
Rather than reinventing the wheel, can you recommend any existing libraries that would fit the bill?
p.s. I have Googled already - I'm just keen to get honest opinions from people who have already used or implemented such things!