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Are there games with real collision detection?
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Kerbal Space Program. But that's not "action", more like simulation, and, the entire game revolves around accurate, realistic physics, since it models actual space travel. So accurate to the point where you can build and test crazy real world concepts like the machine from that company that wants to put stuff into orbit by spinning it and then flinging it up through the atmosphere at hypersonic speeds.
I love KSP but things can clip into each other in the game