Is there ROS support for PAL (Physics Abstraction Layer) or other physics engines (not only ODE or Bullet)?

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I found that PAL support many physical engines.

I specially interested in not only rigid models but also fluid or breakable models.

Here is the list of PAL features now:

     Physics Engines
         Box2D (experimental)
         Bullet
         Dynamechs(deprecated)
         Havok (experimental)
         IBDS (experimental)
         JigLib
         Meqon(deprecated)
         Newton
         ODE
         OpenTissue (experimental)
         PhysX (a.k.a Novodex, Ageia PhysX, nVidia PhysX)
         Simple Physics Engine (experimental)
         Tokamak
         TrueAxis 
     File Formats
         Collada
         Scythe
         PAL XML(deprecated) 
     Collision subsystem
     Solver subsystem (Multithreaded / Hardware acceleration)
     Bodies (Static and Dynamic)
         Box
         Capsule
         Compound Bodies
         Convex
         Sphere 
     Geometries
         Box
         Capsule
         Convex Mesh
         Concave Mesh (Terrain)
         Height field (Terrain)
         Plane (Terrain)
         Sphere 
     Links
         Spherical (Ball and Socket) Link
         Revolute (Hinge) Link
         Prismatic (Slider) Link
         Generic 6DOF Link 
     Sensors
         Contact
         Compass (Angular position)
         GPS (Global Positioning System - Position)
         Gyroscope (Angular velocity)
         Inclinometer (Angular position)
         PSD (Position Sensitive Device - Ray casting)
         Sonar (Ray casting)
         Velocimeter (Linear velocity)
         Transponder (Distance between two objects) 
     Actuators
         Force actuator (Generic)
         DC Motor
         Servo Motor
         Hydrofoil
         Propeller
         Spring 
     Fluids
         Particle Fluids (SPH)
         Grid-Based Fluids (Dampened Shallow Wave)
         Buoyancy Force
         Drag & Lift Forces 
     Vehicles

I also find three engines:

1. irrlicht engine also seems to be an excellent realtime 3D engine(pretty beautiful).

   

2. SOFA Framework (Deformable models,Rigid models,Fluid models,Collision models)

   

3. SICONOS(simulation of mechanical systems)

   This has special functions I'm not really understand it is useful or not.

    Hybrid systems and switched systems
    Mechanical systems with contact, impact and friction
    Electrical circuits with ideal and piecewise linear components
    Differential inclusions and Complementarity systems
    Sliding mode control and Optimal Control with state constraints
   
    Linear Complementarity problems (LCP)
    Mixed Linear Complementarity problems (MLCP)
    Nonlinear Complementarity Problems (NCP)
    Friction-contact problems (2D or 3D)
    Primal or Dual Relay problems
    Quadratic Programming problems (QP)
   

   

What ROS already support now?

What engines will be able to support in the future?

Thank you~