RigidBodyPhysics (RBP) is an H3DAPI implementation of current widely-used physics engines. It add simulations for rigid body dynamics.
Currently RBP supports Open Dynamic Engines (ODE). The development team hopes to add support to these engines soon: Bullet Physics, PhysX. If you are interested in implementing any of these, please contact us.
If you have any question/suggestion/discussion regarding this section, please post to the forum