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Bullet physics is a professional open source (Zlib license, free for commercial use) multi-threaded 3D Collision Detection and Rigid Body Dynamics Library that supports COLLADA, and of course COLLADA Physics.
Bullet is also supported via PAL COLLADA.
Bullet 2.54 includes COLLADA Physics using COLLADA-DOM
18 Jun 2007
Bullet Physics SDK 2.54 compiled out-of-the-box (and includes all external dependencies, including COLLADA-DOM and libxml) on Windows, Linux, Mac OSX, Playstation 3 and other platforms. Check out Bullet/Demos/ColladaDemo for COLLADA Physics integration; 2.54 includes ColladaDemo with COLLADA Physics import and physics snapshot COLLADA .dae export.
A C# port for XNA is available too.
Bullet COLLADA physics viewer 0.8 released
5 September 2006
Improved compatibility with Ageia CreateDynamics COLLADA physics export Separated COLLADA_DOM converting code Enhanced performance Fixed concave/compound-collision bug (caused instability)