Box3D: Erin Catto extends Box2D into an open source 3D engine (box2d.org)
Box3D keeps almost the same architecture as Box2D, the C17 code, C API, sub-stepping solver and continuous collision, then adds triangle-mesh, height-field and baked compound collision for 3D worlds.
Its unusual origin: it began as a fork of Dirk Gregorius's Rubikon-Lite, the hobby cousin of the engine Valve built for Half-Life: Alyx, and still carries that code in convex-hull generation.
A game-networking veteran's whole review was 'Use it!!!'; another builder asked where the determinism guarantees actually are.
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