The Physics Abstraction Layer COLLADA Loader
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:
The COLLADA demo is available here:
Ageia PhysX (a.k.a Novodex)