Library for simulating rigid body dynamics for Unity 3D, openly inspired by Open Dynamics Engine (ODE). Wanting more flexibility than I could get using PhysX, I started this Unity port of the open source project. The engine is written in C# with some parts making use of the burst compiler and C# Job System for better performances.

Okay Dynamics Engine is written for and fully integrated with Unity 3D. Components are similar to Physics components with rigid bodies and colliders and using fixed time steps to update physics simulation. It is possible to move rigid bodies and colliders using transforms, to have local scales, to nest rigid bodies in hierarchies.

It is possible to have PhysX and Okay Dynamics Engine run side by side in your scene, therefore benefiting from the flexibility, accuracy and control of Okay Dynamics Engine for gameplay features, and the speed and efficiency of PhysX for non gameplay features.

Okay Dynamics Engine has been developed and tested on standalone Windows and Android platforms. It should in theory run on all platforms.

The Pro version lets the user decides if he/she wants the logo to be displayed or not.