BEPUphysics is a 3D physics engine designed specifically for the XNA Framework, enabling the effective handling of rigid body simulations and interaction for game development at any level.

Features:

 * Fast and robust collision detection system for rigid bodies.
 * Support for multiple primitive object types, both dynamic and nondynamic:
   -Convex Hulls
   -Box
   -Capsule
   -Cone
   -Cylinder
   -Sphere
   -Triangles and Triangle "soup"
   -Minkowski Sum
   -Wrapped Objects
 * Per-entity collision events for easy game logic creation.
 * Thread safe interface for easy offloading.
 * Continuous collision detection (linear and/or angular motion), effectively solving the bullet-through-paper problem.
 * Fast static triangle groups with deformability.
 * Fast height field based terrains with deformability.
 * Additional effective handling for large numbers of general static objects through StaticGroups.
 * Support for tuning of physical properties, including friction, bounciness, and damping.
 * Compound bodies formed from multiple convex sub-bodies or other compound bodies support concave and complex shapes.
 * Tweakable ray-cast/convex-cast based vehicles with many dimensions of customization.
 * Supports accurate buoyancy modeling.
 * Spherical, point-on-line, distance, and distance-range constraints with force limits.
 * Spring, rotational axis, maximum speed, 'grabbing' (dragging objects around), and upright constraints available.
 * Extendable framework for force fields, joints, space-updated types, solver-updated types, and single body constraints.
 * Forces and support for force "tracking;" keeping an applied force at the same relative position to an object, and expiration timers.
 * Supports collision filtering, ignored collision pairs, general intangibility, and detector objects.
 * Fast ray testing against the whole environment, parts of it, and individual objects.
 * Effective and extensible spatial partitioning methods used in broad phase collision detection.
 * Extensive math and test library toolbox.
 * Fully managed code for deployment to Xbox360.
 * Effective deactivation system for keeping simulations running smooth even with many objects in play.
 * Extensive XML documentation for in-code information.
 * Simple and easy to use.

and more!