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How do people perform general-purpose physical reasoning across a variety of scenarios in everyday life? Across two stud ies with seven different physical scenarios, we asked participants to predict whether or where two objects will make contact. People achieved high accuracy and were highly consistent with each other in their predictions. We hypothesize that this robust generalization is a consequence of mental simulations of noisy physics. We designed an “intuitive physics engine” model to capture this generalizable simulation. We find that this model generalized in human-like ways to unseen stimuli and to a different query of predictions. We evaluated several state-of-the-art deep learning and scene feature models on the same task and found that they could not explain human predictions as well. This study provides evidence that human’s robust generalization in physics predictions are supported by a probabilistic simulation model, and suggests the need for structure in learned dynamics models.