ReactPhysics3D

ReactPhysics3D is a physics engine library that features rigid body dynamics, discrete collision detection and an abundance of collision shapes which be used in games and 3D simulations. Since it is a library, first you need to generate the static bodies and headers and the developer recommends CMake for this purpose.
The program can be used in two ways, namely to create bodies and allow the app to simulate the motion or move them manually so that you can test the collision between them. In other words, a dynamics world is suitable for creating bodies which move automatically via forces, joints and collisions, whereas a collision world enables you to perform these tests manually.
The collision bodies are essentially the objects that have their own position, orientation and shapes. To create a body, you need to figure out its transform, which is the initial position and orientation. On the other hand, the rigid bodies refer to objects you want to simulate in the world and that has a mass, orientation, position and up to several collision shapes.
To constrain the motion of the rigid bodies and reduce the number of degrees of freedom between them you can employ joints. While some have motors to move the bodies at a given speed automatically, others enable you to control the range of motion of the bodies.