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A C++ library that contains some essential rigid body dynamics library such as the Articulated Body Algorithm (ABA) for forward dynamics, Newton-Euler Algorithm for inverse dynamics and the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix.
Chipmunk XNA is a project to port the amazing Chipmunk physics library over to XNA in pure C#, with no unsafe code.
This started out as my final project at Drexel University for an intro to Java class. I'm adding this to Google Code to get some experience with open source project management.