Kangaroo is a Live Physics engine for interactive simulation, form-finding, optimization and constraint solving.
It consists of a solver library and a set of Grasshopper components.
Installation instructions and a draft manual are included with the latest download.
For questions and discussion please visit http://www.grasshopper3d.com/group/kangaroo
Versions 0.096 to 0.099 make use of the Plankton halfedge mesh library by myself and and Will Pearson, released under the terms of the LGPL license ( https://github.com/meshmash/Plankton )