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This is 2D and done in coffescript which sounds like cheating ;) 3D math is not that simple and it has to be done really well. I look forward to see a good 3D physics so if anybody has found/done it, please share.

The library is in Js: http://code.google.com/p/box2dweb/

Which is a port of a famous physics engine in C: http://box2d.org/

And there are 3d physics engines for Js as well: http://glge.org/demos/cardemo/ and http://www.glge.org/

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