As it was announced recently, new v7 version (currently in development) of free 3D Rad game engine will switch from ODE physics engine, used curently, to PhysX SDK.

According to developers, advantages from this decision are going to be following:

• faster physics processing, both on normal systems and on systems equipped with recent NVidia cards (where hardware processed physics simulation will allow a very high number of simultaneous simulated bodies).
• more accurate and robust polygonal collision detection (no more crashes on triangles that are too stretched, too small or too big)
• additional collision detection primitives (boxes, capsules), with the ability to stack a high number of objects to create large collapsible buildings.
• built-in breakable joints support, to effectively make in-game objects fully and realistically destructable.
• advanced tire/suspension simulation for cars
• soft bodies
• physics-enabled particles/fluids
• cloth simulation
• bult-in advanced character control
• volumetric force field simulation