Bullet
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Bullet is a professional open source multi-threaded 3D Collision Detection and Rigid Body Dynamics Library. It is free for commercial use under the ZLib license.
Bullet is a C++ library.
Here is a haskell wrapper and an example for it.
Bullet.hs - bullet haskell wrapper
BulletExample.hs - example program
requirements: glut, Bullet
compile command: ghc -XForeignFunctionInterface Bullet.hs BulletExample.hs -lbulletdynamics -lbulletmath -lbulletcollision -lstdc++ -o example -package GLUT