We present in this paper 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 traditionnal physically based models such as rigid solids, mass-springs meshes, finite elements and particle systems. By means of Lagrange's 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.