I've moved the Dependency Free fork into the main branch. Primary development from here on out will be on this dependency free version. Other forks will have changes merged in periodically (at least as often as major version releases).
If you're looking for the XNA version of BEPUphysics, head to the newly created XNA fork.
I still haven't gotten around to MonoGame-izing the BEPUphysicsDemos and BEPUphysicsDrawer, though, so they still rely on XNA.