Box2DX is a C# port of Box2D - Erin Catto's 2D Physics Engine. You can find original C++ version on www.box2d.org
Continuous collision detection. Contact callbacks: add, persist, remove. Convex polyons and circles. Multiple shapes per body. One-shot contact manifolds. Incremental sweep-and-prune broadphase. Efficient pair management. Fast broadphase AABB queries. Collision groups and categories.
Continuous physics with time of impact island solver. Persistent body-joint-contact graph. Island solution and sleep management. Contact, friction, and restitution. Stable stacking with a linear-time solver. Revolute, prismatic, distance, pulley, gear, and mouse joints. Joint limits, motors, and friction. Momentum decoupled position correction. Fairly accurate reaction forces/impulses.
Centralized tuning parameters. Pure .NET 2.0 library.
OpenGL with Tao.Freeglut Graphical user interface Easily switch between tests using GUI Test framework for easily adding new tests Mouse picking and the bomb! VCS9 project files
The Library is free for commercial use and open source under the ZLib License.