3D physics resources

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Physics Libraries

open source

• Tokamak http://www.tokamakphysics.com/
• ODE http://www.ode.org/
• Newton http://www.physicsengine.com/
• Bullet - Built into Blender3D
• PAL - Physics Abstraction Layer. A higher level API which wraps Tokamak, ODE or Newton.

commercial

• PhysX API supported by Ageia's PPU. AFAICS this is free to use after registering.
• Havok - popular in commercial games esp. on PS3. Very expensive to use

Articles and Tutorials

• http://en.wikipedia.org/wiki/Physics_engine