MuJoCo is described as 'Stands for Multi-Joint dynamics with Contact. It is a general purpose physics engine that aims to facilitate research and development in robotics, biomechanics, graphics and animation, machine learning, and other areas that demand fast and accurate simulation of' and is an app. There are three alternatives to MuJoCo for a variety of platforms, including iPad, Mac, Windows, Linux and Android apps. The best MuJoCo alternative is Bullet Physics, which is both free and Open Source. Other great apps like MuJoCo are Matter.js and Open Dynamics Engine.
Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
ODE is an open source, high performance library for simulating rigid body dynamics. It is fully featured, stable, mature and platform independent with an easy to use C/C++ API. It has advanced joint types and integrated collision detection with friction.
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