We present an expandable simulation framework. This system, called DREAM (deformable and rigid objects efficient for simulation and modeling), provides modelling, analysis and real-time simulation tools for rigid and deformable multibody systems. DREAM modelling tool consists of a unified abstract model which integrates traditional physically based models such as rigid solids, mass-spring meshes, finite elements and particle systems. By means of Lagrange equations, DREAM computes exact motion equations in a symbolic form to allow easy analysis of such mechanisms. Afterwards DREAM generates a C++ simulation code which solves the motion equations in our real-time distributed simulation platform. The latter is composed of different layers which manage communication and synchronization between concurrent C++ simulation codes. We present theoretical, numerical and practical aspects of the simulation framework.