Agent-based modelling and simulation (ABMS) have become essential for complex systems such as cyber-physical systems. The integration of three-dimensional (3D) simulations considering different physical aspects has expanded ABMS potential for enhancing the accuracy of realism, namely fidelity. To this end, this study experimentally evaluates and compares prominent agent-based simulation tools, focusing on their cyber-physical systems (CPS) capabilities for 2D and 3D simulations. Moreover, the study evaluates each tool based on key criteria such as gravity, restitution, friction, velocity, collision and rigid body. In this regard, definitive scenarios are employed to assess the suitability of each tool for both 2D and 3D simulations, considering their physical modelling capabilities. Based on the results, the GAMA simulator stands out as the most sophisticated and precise 3D agent-based physical simulator across all performed scenarios for CPS.