Esenthel is free for non-commercial use.
Info, screenhots, docs, and downloads here:
http://www.esenthel.com/en/engine/news.html
The engine is DX only and the examples only compile in MSVC Express 2008. The latest Nov. 2008 DX SDK is required as well as the latest Nvidia Physx drivers.
regards,
Alvaro



