Algodoo

Credit to Conun for the whole idea,
Someone Whose Name Escapes Me for providing a good explanation (actually, a screenshot of a simple one),
and RaRa for the RaUnits that stabilize the test car. Usually, you can't use more than 1 in a scene, but they don't send conflicting info to scene.my.ang if they are all on the same body.

This is not improbably one of the most powerful engines on Algobox.