New Physics

Maybe I'm insane, but I've been mulling over some ideas to fully integrate ODE with PySoy, not for collision detection, but for rigid body physics.

This new model would let ODE handle velocity, rotation, etc for all Nodes and Entities directly in the Scene (Nodes treated as a group of joined entities) with the controller applying forces to various objects to affect them.

This new model, which includes Cal3D characters, would allow much more dynamic characters (adjusting walk cycles to terrain, able to trip over things, etc) than was feasable previously while allowing character speed to be set just with animation speed (ie, no more animation+movement syncing needed) since the animation of their feet would propel them forward.

I don't think this has ever been done before, certainly not in a free software game.