Poser Physics is a separate plugin by face_off (who went on to make the plugin for Poser to Octane Render) I think, not sure if it's still available; Bullet has been built-in since Poser 10, it's in a lot of different apps as it's open source and has been around for quite a while. I'd love to see the devs do more with it.

I haven't experimented with constraints or soft-body dynamics yet, so much to do, so little time ;)

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