I've recently found node.js bindings for Bullet and a JS port of JBullet. I'm not sure whether either supports hinges or capsules or other things I like. Lousy LGPL on that port. Not sure about the license on the bindings.
Or maybe JigLibJS is the right thing to try?
Maybe robot sim in browser will come before too many years.
And how about Bullet compiled to JS (http://www.syntensity.com/static/bullet.html) with Emscripten (http://code.google.com/p/emscripten/)? 7.67 MB of just bullet.js, says Chrome's network view. Supposedly getting even 70 FPS during the collision of five blocks. Wow.
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