An interesting Poster at SIGGRAPH 2006 about Rigid Body dynamics:
Rigid body simulation using a Particle Method:
http://mps.q.t.u-tokyo.ac.jp/~tanaka/
Real-time Solid Voxelization using Graphics Hardware
http://mps.q.t.u-tokyo.ac.jp/~harada/
(This can be used to approximate objects with spheres, useful in the above Particle Method approach):
Interesting physics read AND good for practicing japanese language (need to do level 3 of the JLPT this december)
SIGGRAPH Research Poster on Rigid Body Simulation
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