Hi, I wasn't sure where to post this, maybe someone could move it if its in the wrond place?

Anyway, I have just released an alpha of my XNA physics engine, you can grab it here: http://www.ralphmorton.net/projects/Icarus/dl.php

So far its pretty basic. It supports only convex shapes, and I havent added composite shape support yet. It uses MPR (Minkowski Portal Refinement) for collision detection, although there is also a continuous GJK implementation, so continuous collision detection can be enabled if desired. The solver uses sequential impulses a la Erin Catto (in fact a lot of the code was built using Box2D_Lite as reference). The only joint actually implemented at this point is a distance joint. And restitution isnt implemented yet!

Let me know if you like it, or if not, what you dont like about it. Hopefully it will at least be useful as a learning tool ;)

EDIT: I should probably point out that its a 3d physics engine, to avoid confusion

EDIT again: screens

The license is ZLIB, which is about as unrestrictive as licenses come. I forgot to mention a lot of stuff in that post :/

Anyway, I've added a lot of features and made some improvements, so a beta release should be coming fairly soon.