Havok

Havok (http://www.havok.com) produce a commercial tool called Total Havok which is available under Linux and Microsoft Windows for the PC (and also for the XBox and PS2), that provides a game SDK providing many real world physics laws as standard. Examples of the technology that is built into the environment are:

• Collision detection
• Rigid body response
• Fast general constraints
• Optimised vehicle SDK
• Specific car and rag-doll constraints
• Sensors, events and callbacks
• Deformable bodies (cloth, rope, soft bodies)
• Cloth, rope and soft body constraints

As can be seen, Total Havok provides an impressive amount of material and object physics that would take a long time to include in a system designed from scratch.