I’ve recently made another demo using Havok. It was quite fun, but the lack of an official documentation is definitely a noticeable limitation. At least, I couldn’t find any (at the time of writing), even a minimalistic one like Ammo’s, so if anyone has more luck with that, please share, it would be much appreciated!
I haven’t tried Rapier nor Oimo or Cannon (yet), but working with Havok feels quite similar to working with Ammo. In some cases even nicer 'cause it has these neat HP_Body_SetMassProperties and HP_Shape_SetMaterial methods based on body’s pointer and body’s shape pointer respectively.
Oh, there’s also an issue with camera’s near clipping plane when used with three.js > 0.150.1. It causes all physics bodies to disappear when too close to the camera. I haven’t figured out why though yet, so I just used v. 0.150.1.
Anyway, for anyone interested, here are some links to this mini-project:
GitHub
Live Demo
It’s based on N8python’s havokDemo, so kudos to that!