The more I look at and think about different options, the more I'm convinced that the physics platform with legs is Bullet. And sadly, I don't think it's JBullet. That's too bad, because I definitely prefer Java. Maybe someday, native DLLs will just run as Java transparently, but until then ...
(Side note, I'm getting less convinced on using Blender as the Bullet wrapper for simulations, but maybe someday on that, too.)
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