There are four people I know of who have done fairly substantial work with 
OpenSim's physics engines:
        - MW (wrote the original interfaces)
        - Teravus (made ODE 'not suck' ... as much)
        - Jeff Ames (wrote the MICA one)
        - Leon Zhu (works for me, did some substantial work on the BulletX 
plugin, but is currently a bit busy to field questions on this list)

Adam

> -----Original Message-----
> From: [email protected] [mailto:opensim-dev-
> [email protected]] On Behalf Of Robert A. Knop Jr.
> Sent: Wednesday, 30 September 2009 6:36 PM
> To: [email protected]
> Subject: Re: [Opensim-dev] Mega Regions and PAL support in OpenSim?
> 
> On Wed, Sep 30, 2009 at 06:23:56PM -0700, Dahlia Trimble wrote:
> > We're watching PAL and may consider it when we find it to be
> sufficient for
> > use with OpenSim. Another factor to consider is the majority of
> OpenSim
> > developers are unpaid volunteers and it's difficult to find people
> who have
> > the knowledge and expertise for implementing physics simulations and
> are
> > willing to donate their time and services. If you have this expertise
> or
> > know of someone else who would be willing to help implement PAL then
> please
> > do consider creating a PAL module and donating it to the community.
> 
> I fully understand (at this point) the MICASim Physics module and how
> it
> interacts; thanks to ter_afk (on IRC-- I wish I knew his real name!)
> for
> some pointers on getting the message back that the scene needs to get
> updated info from the physics sim.
> 
> I have figured out a bunch of what needs to happen, but not all of it.
> Could somebody point me to where I'd look to understand what taints are
> all about WRT a physics engine?
> 
> I have various interests in physics engines, what with being a
> physicist and the last one to hack the MICA code....
> 
> --
> --Rob Knop
>   E-mail:    [email protected]
>   Home Page: http://www.pobox.com/~rknop/
>   Blog:      http://www.sonic.net/~rknop/blog/
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