Android Physics Engine
Solution 1:
It is not 3D, but AndEngine could at least provide you some useful information to start with. It is a very promising and free Open Source 2D OpenGL Game Engine for the Android platform.
Have a look at their example application to see what it can do :)
Solution 2:
Here's a 2D JavaScript engine that looks interesting: Box2D
Solution 3:
The latest Matali Physics Pro supports Android OS through the Mono for Android.
Solution 4:
Or you use http://jmonkeyengine.org/ which is in my optinion one of the most advanced game/graphics/3d physics engines available for Android and in comparison to Unity3d its open source and can be embedded in existing Android apps ;)
Solution 5:
For 3D a good option is Unity3d which supports Android (and iOS) game development and is a complete solution used by many big players. It also supports 2D. There is a free version, but pro is not free though., it's pretty expensive ($400 - $1.500.
http://unity3d.com/unity/multiplatform/mobile
For 2D, Box2d has an Android port: https://code.google.com/p/androidbox2d/
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