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Free physics engines

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hi Does anyone know of any free physics engines available for use in commercial projects? cheers

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Thanks! I've had a search and can't find anything available under a mit/zlib license. Does anyone know of anything?

cheers

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I've downloaded ODE, but i'm new to this stuff and am not sure how to go about using it. Are there any beginners tutorials to allow me to get to grips with the basics of using the sdk, and physics engine creation in general?

thanks

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This is for PyODE but it might be helpful. I'm working on a tutorial for ODE at the moment, but I can't say how long it'll take (assuming it gets accepted) before it shows up at GameDev.

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