as far as materials are concerned, theres no real way to accurately calculate material/material interactions (you can do it for friction but where there are multiple property types it gets more complex)
I implemented something in ode once, where each object was assigned an material ID, and there was a behaviors table
so material ID x and material ID y would have particular friction, restitution etc properties
I implemented something in ode once, where each object was assigned an material ID, and there was a behaviors table
so material ID x and material ID y would have particular friction, restitution etc properties