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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