Do you plan using ODE, the Open Dynamics Engine for physics ?
It works well and has a collision system interfaced with OPCODE (an open source collision lib).
It's some time ago since you wrote it. When you wrote this, I still thought that it was easy enough for me to writ my own physics engine. After some failed attempts, I'll reconsider this. The task seems to be so complicated that it isn't fun anymore and using ODE might be quicker & easier. Thanks.
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