"SOFA  is an Open Source framework primarily targeted at real-time physical simulation, with an emphasis on medical simulation. It is mostly intended for the research community to help develop newer algorithms, but can also be used as an efficient prototyping tool or as a physics engine." It is also multi-platform. As soon as I have some test written, I will put some shots here.
 SOFA (Simulation Open Framework Architecture). (2009, March 26). In Wikipedia, The Free Encyclopedia. Retrieved 14:01, May 7, 2009, from http://en.wikipedia.org/w/index.php?title=SOFA_(Simulation_Open_Framework_Architecture)&oldid=279736872