Tokamak is a physics SDK similar to ODE.
http://www.tokamakphysics.com/ <-OgreTok uses this
Opcode is strictly a collision library, can build collision trees and do collision vs mesh very fast. ODE and Togretok use it for collision.
http://www.codercorner.com/Opcode.htm <-I'm using this for our game, cuz an RPG doesn't need physics
We should be launching a website soon for our game since we're starting to get some content to show off. I've opted not to launch a website until we have more to show.
I can link you to some works in progress though.
http://www.bsproductions.net/foxbot/dl.php?25230
http://www.bsproductions.net/foxbot/dl.php?3
The game screen shots arent much to look at yet because most of the work has been "under the hood" so to speak.
I'm about 4 months away from graduating with a bachelors in game design, which is strictly programming, so my experience comes mainly from that. I'm in final project now. My class has 3 groups of programmers that have to make a full blown game in 5 months. First month is the design document, second month is technical design document, and last 3 is full time coding. Since we did alot of our design and technical planning before this class I've got a nice head start in the actual coding. Instead of writing our own tech(engine, rendering...) my group has opted to use Ogre and a networking middleware(
http://www.replicanet.com) so that we can concentrate on making a game.
So far I have functioning collision detection(ray vs world, sphere vs world, ray vs box) implemented in a custom scene manager. The scene manager is mesh based so it isn't limited by the "2d"ness of heightmap based techniques so we can do overhangs, overlapping geometry etc. We will support caves and other indoor areas within the same scene manager, though we havent got to that point yet. I've developing the dedicated server and the client together, and they are at the point where a client can connect and see replicated objects that are hosted and moved by the server. Pretty much everything will be server side, as I don't trust the clients to be in control of much.
We hope to launch the website very soon, so I'll pimp it out when the time comes.