There are several open-source physics engines available that can be used for simulating rigid bodies in C++. Some popular options include:

- qu3e: A compact, lightweight, and fast 3D physics engine designed specifically for games. It supports only box collision, but is portable and has a simple interface for creating and manipulating rigid bodies.
- Jolt Physics: A multicore-friendly physics and collision detection library suitable for games and VR applications. It supports collision detection for many shapes, including spheres, boxes, capsules, and convex hulls.
- ReactPhysics3D: A C++ physics engine library that can be used in 3D simulations and games. It supports collision shapes such as spheres, boxes, capsules, convex meshes, static concave meshes, and height fields.
- ODE: An open-source, high-performance library for simulating rigid body dynamics. It supports advanced joint types and integrated collision detection with friction.
- Project Chrono: A free, open-source multipurpose multi-physics simulation engine written in C++ that can be used for virtual reality projects, mechanical simulation, car simulation, collision detection, augmented reality, and robotics simulation projects.
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