What I've done is probably not what you want
An experimental geometry and collision detection library for Microsoft's XNA framework. I started to extend the functionality of this library into kinematics (movement and path prediction / solving) and dynamics (particle and rigid body physics) but am not willing to release that code at this stage unless you ask really nicely. The kinematics is only partially complete, unfortunately.
I have a handful YouTube videos showing some tests running the code from these libraries.
Does not work on OS4.1
[2016-12-01] I was asked to provide a new, improved version for OS4.1(FE) as part of the AmigaOS4 Enhancer package
now available to buy from Amigakit.
This provides richer, more structured support for multichannel audio and is supplemented by an enhanced WAV, MP3 and module tracker datatype to show off some of the new features and API.
As an added bonus, they won't let me near the big, red delete button this time.