This is a new bullet-blender build, with a new feature that allows for physics based animation, baking game physics into animation curves (ipo).
http://www.continuousphysics.com/ftp/pub/test/index.php?dir=blender/&file=BlenderPhysicsAnimation.zip
Linux build will hopefully be uploaded later.
See the included blend file for explanation.
Basically this is a build-in version of a script called game2ipo, with the option to reset the animation ipo’s. No need for scripts, much easier.
The resulting animation, ALT-A (works on all blender).
http://www.continuousphysics.com/ftp/pub/test/index.php?dir=blender/&file=PhysicsAnimationBakingDemoWithIpo.zip
Feedback welcome, positive in the forums, negative over email
Erwin