Alternative libraries for Simscape Multibody

Hello, I just became familiar with scilab and Xcos and I wanted to ask if there is a parallel tool to one of the tools I use working in the MATLAB Simulink environment.
I am working with a library called Simscape Multibody that allows the construction of physical systems with the simulation of its dynamics under different interactions, external forces and torques.
In addition, in this library there are joints objects that add constraints to the system with regard to its different degrees of freedom (depending on the type of joint).
The library also provide a graphical display of the system during the simulation run with different features.
Unfortunately the documentation of the library is not detailed and clear enough and many parts of the library are just black boxes with no option of modifying or even seeing the source code.
Therefore, I am looking for alternative options.

Hello,

Such a tool does not exist in Scilab, but the closest infrastructure is Coselica ATOMS : Coselica details.

S.

I see, thank you very much.