PGE is a Physics Game Engine module for Python which can be combined with Pygame.
The construction of the game engine module is based around the principle of discrete event simulation. Unusually this game engine uses a predictive time of collision rather than a frame based approach.
The objects modelled in the game engine are rigid circles and polyhedra which may have a positional velocity and acceleration.
More details about the implementation of this module can be found in this paper. http://floppsie.comp.glam.ac.uk/Papers/paper21/ieee.pdf