The game Automation has quite an in depth engine builder/simulation aspect to it. It's very fun to mess around with, and the sound simulation uses some of the concepts AngeTheGreat has in his videos.

In general, most simulations with rigid body physics are still baked-in animations, and often still use rudimentary collision conservation models.

If people try something fancy... the clipping and weird physics glitches will ruin their day. Only somewhat depends on the game engine =3