here's a little port of Slembcke's chipmunk physics library and a demonstration of all demos that come with it.
Also read the readme.txt that comes with the Download.
Download contains Firmware 1.50, Custom Firmware and Win32 versions and of course the Source. It contains the chipmunk port as well as the demo manager written in C++ using the JGE++ Engine.
Download via mk2k.net: click here!