Today I released an open source version of a reader that can parse COLLADA 1.4.1 physics content using the TinyXML parser.
This implementation only reads the physics content (include convex hulls, triangle meshes, and constraints). It also interprets body collision flags and the drive model for the 6 degree of freedom joint using the ‘extra’ tags. These are required features to represent a fully described rag doll using the Ageia PhysX SDK.
You can find the documentation and source here.