Bullet

Bullet is a professional open source multi-threaded 3D Collision Detection and Rigid Body Dynamics Library written in C++. It is free for commercial use under the zlib license.

A cabalised wrapper is available: http://hackage.haskell.org/package/bullet

Note that you have to install the library before installing the package:

svn checkout http://bullet.googlecode.com/svn/trunk/ bullet-read-only
cd bullet-read-only
cmake .
make
sudo make install

Now you can install the Haskell binding:

cabal install bullet

The example on the screenshot below can be found in the package. You have to compile it by hand. Make sure that OpenGL and GLUT is installed, then enjoy:

cabal unpack bullet
cd bullet-x.x.x/Examples
ghc --make -O2 BulletExample
./BulletExample

You can use the arrows to navigate the scene and P to pause/unpause.