I just stumbled upon an anniuncement by Ron Fedkiw that he plans to release parts of his PhysBAM library including a real-time rigid body engine. Scroll down to the bottom of his website here:
http://physbam.stanford.edu/~fedkiw/
PhysBAM to be released soon
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Re: PhysBAM to be released soon
Some of those renders there are just incredible. I am in awe. It's awesome that he's releasing even a small bit of it.