You can now download the v2.0 of the Interactive Medical Simulation Toolkit (iMSTK). This latest version offers new features, improved functionality. V2.0 features new Octree collision detection, rigid body dynamics support, multithreading support and Smoothed Particle Hydrodynamics (SPH) for fluids.
Check out the blog: https://blog.kitware.com/imstk-2-0-released/