Now I will show you how I made those ice cubes fall into the glass. The idea is very simple: you make the table have a 0 mass, so it stands still and you add the ice cubes and the glass, along with the table in a simulation and then update the scene.
I placed the numbers vertically above the glass. The big problem is that you want to get a desired bouncing effect of the ice cubes and you have to find the right values for friction, mass and elasticity. The simulation can easily get unstable and things could �explode�. One sure solution for this is to choose a lot of substeps when simulating.
The values I used were: 0.3 mass,0.3 friction, 0.7 elasticity for the ice cubes, 1 mass, 0.3 friction, 0.3 elasticity for the glass and 0 mass, 0.5 friction and 0 elasticity for the table.
There is a value at the utilities->reactor rollout, called collision tolerance. This is how much space is used between the colliding objects. I used the default value. If you make this smaller, you get a better chance of making your simulation unstable.
Also, when making the simulation, consider using simplified objects, for better performance. I used my objects with mesh smooth turned off.