Hpysics is a physics engine to be written using Data Parallel Haskell during Google Summer of Code 2008.
If you are interested, you can follow the blog: http://physics-dph.blogspot.com/
1 Modular physics engine design
1.1 core simulator
Combines all other components to perform simulation.
Method used to integrate ODE.
Physsim implements Euler and Runge–Kutta (implicit and explicit) methods.
1.3 collision detector
Algorithm which detects whether the two bodies overlap.
See also: PQP