According to an article of Golem you can now download the Havok physics engine for free. The engine was used in Half-Life 2, one of the popular first games which excessively used physics, and also Assassin's Creed and Bioshock.
However, the free version of the engine is just available as library/binary and not open source. Orxonox won't be able to use it, but for your own uses this could be helpful to play with it.
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