RenderWare is a cross platform (PC,
PlayStation 2, XBox,
GameCube) game engine. It comprises several components -- Graphics, Audio, Physics, AI -- and provides authoring for each of these technologies. It's supplied by Criterion Software Ltd (
http://www.csl.com) - check it out for list of games that use RW (I think it's usually at least 6 of the top 10 PS2 games)