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copied!<p>Building a fast, accurate, and <em>stable</em> solver is extremely tricky, and people like Havok are understandably protective of the technology. That said, the free systems I'm aware of are:</p> <ul> <li><strong>Newton Game Dynamics</strong> -- This one made its reputation on having a very accurate and stable solver, at the cost of performance. It's spent the last few years trying to gain performance without sacrificing the other two. It is a well designed engine and it works well, but it's still one of the slower ones out there. Not open source.</li> <li><strong>Tokamak</strong> -- Exactly the opposite. This one is awful; even their demos don't run stably. Just pull up their box stacking and you can see massive jitter. I've never been impressed. It is open source and wildly fast, though.</li> <li><strong>Bullet</strong> -- This one's lead by a former Havok employee, who is now employed by Sony (although I can't remember if that's SOE or SCEA). This is the newbie of the scene, and it is actually open source. It's got heavy Sony backing, it's nicely cross platform, and it's developed by people who know what they're doing.</li> <li><strong>TrueAxis</strong> -- A recent appearance on the scene. I don't know much about it, and it hasn't really gained a substantial community. I tend to be a bit skeptical here; it may be well written, but with a small community help can be hard to come by, and it's probably not a well tested and stable engine, compared to the others.</li> </ul> <p>I'm a huge fan of Bullet myself, but I've heard some misc complaints about it. Most of them seem to center around poor documentation, or occasional problems on some of the secondary platforms like Mac. It'd still be my pick after the "Big 2", Havok and PhysX.</p>

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