I think that verlet is the best choice for games... Try using any other method to stack, say 10 boxes or whatever objects... it's impossible. For example in ODE you can't stack anything and expect to be stable :)
Srping physics using verlet integration
+ Simple
+ Stable
+ FAST
+ With enough iterations and good collision handling, it's also very accurate.
- Perfect friction modelling hard to implement
- Balls are very hard to model, because particles don't have orientation.
- Accumulation of kinetic energy because of spring-structure. Makes it hard to control elastic properties of an object. (this one is the most anoying)
- Exploding of objects (not a problem with more timesteps and properly placed constraints)
Srping physics using verlet integration
+ Simple
+ Stable
+ FAST
+ With enough iterations and good collision handling, it's also very accurate.
- Perfect friction modelling hard to implement
- Balls are very hard to model, because particles don't have orientation.
- Accumulation of kinetic energy because of spring-structure. Makes it hard to control elastic properties of an object. (this one is the most anoying)
- Exploding of objects (not a problem with more timesteps and properly placed constraints)