Hi,

I have released the code and a win32 demo to the COLLADA physics loader for PAL (Physics Abstraction Layer - a wrapper for various physics engines). It is based from the lightweight COLLADA loader by John Ratcliff.

The main PAL page is here:
http://pal.sourceforge.net/

The COLLADA demo is available here:
http://www.adrianboeing.com/pal/benchmark.html#COLLADA

PAL supports:
Ageia PhysX (a.k.a Novodex)
Bullet
Dynamechs (depricated)
JigLib
Meqon (depricated)
Newton
ODE
OpenTissue
Tokamak
TrueAxis