Bullet Physics and NGL
Using the Bullet Physics with NGL, the demo has basic wrappers for the Physics world and rigid bodies, it also uses the ngl::Obj to load low-res collision meshes and uses higher detail ones for the drawing.
For more details read the user guide of Bullet.
The easiest way to install this is with vcpkg
vcpkg install bullet3
For windows
./vcpkg install bullet3:x64-windows