I have being told that chai3d is capable of simulating world to world collisions. I only see it returning the stiffness from the collided object to the tool and not applying the tools force onto that object. Furthermore the cGenericObject doesn't carry A mass variable, nor do I see any mention of things such as gravity etc in the docs. In the example situations that I've seen(most of them) the environment changes are hard coded. Would I be able to use chai3d to simulate A jenga tower or billiards? If so is there an example/docs that I should take A look where chai3d simulates the environment (gravity, normal forces, static friction, dynamic friction, etc) for you.
Support for dynamic objects is provided in the ODE module which can be found in the following directory:
I invite you to checkout the different examples as they will probably help you get started with your development.