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Open Source Physics Library

BEPUphysics is a 3D physics library by BEPU.  It’s fast and has a bunch of cool features like constraints, terrain, static and instanced meshes, continuous collision detection, custom collision rules, vehicles, easy multithreading, etc.  Full support for XBox360 and WP7 too!

The engine’s primary version is for XNA, but there is a SlimDX fork and a dependency free fork if you don’t want to use XNA.

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