Know of any open source or free physics libraries (cloth? soft body? Rigid bodies?)

Are there any free and perhaps open source physics libraries (ridig bodies or cloth or soft-bodies) available that one could play around with or use in our own games (non-commercial)?
thank you,

Take a look at those two :
OpenDynamicsEngine -
Tokamak -

They’re both free for use (AFAIK even commercial) and ODE is even OpenSource.I’d suggest you to use ODE, as it seems more advanced than Tokamak, whereas Tokamak seems to be a bit faster for complex scenes.

thank you