ODE is a physics Library used in commercial games like
"Soeldner - Secret Wars", "BloodRayne 2", "Xpand Rally", "Hellforces",
"Amsterdam Taxi Madness", "ATV", "Elite Heli Squad", "Manhattan Chase", "Pedal to the Medal", "Shanghai Street Racer" and "Taxi3". Also Open-Source libraries like the CrystalSpace engine (where an AmigaOS 4 port is since some time in the works, with no release date announced) are using ODE.
http://os4depot.net/?function=showfile&file=development/library/ode.tgz