I'm wanting to add Verlet Integration, mostly to armors with cloth accents, such as capes, dangling belts and other fabric. That Bethesda Game Jam video had the Verlet Surfaces for rigid bodies, such as banners and flags. Is that level of coding within your experience? From all the literature I've found, it's considered fairly simple physics implementation. here are some resources that might (hopefully) be helpful to you: Verlet Integration in 9 minutes for Flash:
Another link detailing the integration: http://softimage.wiki.softimage.com/xsidocs/idef_deforms_VerletIntegration.htm