I know that there is already 2 physics wrappers for DBP but I have developed a ODE wrapper for DBP. This wrapper has been in use for in house projects for almost a year now and has matured nicely. There are over 120 commands accessible from DBP now. Currently, I have not any help or keyword commands written (Don't need them for myself). I also have to finish the trimesh collision. More information about ODE can be found here.
http://ode.org/
Here are some screen shots
Code syntax
Hinge and ball joint
If I thought that there might be a demand for a wrapper like this (given that two are already available). I might create the help and keywords and release this wrapper.
Thanks for reading
griffirr
P.S. ODE is free even for commercial applications.