Whenyou say begginer friendly do you mean like with a full editor like Unity?
Or do you mean just having some good starter tutorials?
A full editor would be cool but isn't essential. I already have my favorite ide which should do it. I mean good tutorials and example code. It's very hard to learn something with seeing how it's made the right way in a bigger context.
For developing on Linux you could go with Jmonkey for Java
I personally don't like Java that much but I will try it.
gameplay3d comes with a bunch of sample games one of which is a 3d racing game which uses Bullet for physics.
That sounds great. We will have a look at this too.