I’m happy for distributing Bounce Lite, a portable 3D physics engine for games:
Bounce Lite is available at its GitHub repository. It is the second physics engine that I (Irlan) have written and the first that is publically distributed.
Some of the physics engine features can be seen at the basic (.pdf) documentation living inside the repository. Additionaly, a demo application lives inside the repository.
As many other engines, Bounce Lite is inspired by Erin Catto’s Box2D.