AGP? PCI-E? Either one, you can go to newegg and search for Radeon X1600 Pro made by Sapphire. Its relatively inexpensive, and I am sure can handle what you are looking for. Rainbow Six 3 (the game I have) was made for ATI, so I would assume the games still are. That should mean that the Radeon X1600 (a pretty new card) should suit your needs nicely.
EDIT:
PCI-E
AGP
I've had the AGP version. And I just got HL2 for christmas (of course it handles it on full settings), but Lost Coast, the free expansion level that comes with it, uses HDR, and I can use full settings. It looks fantastic... I'm glad I bought it. I'm not sure how Lost Coast ranks with newer games and newer engines (not much of a gamer myself anymore), but it sure looks amazing to me.
"You're only supposed to blow the bloody doors off!" Anyone who recognizes this quote is awsome.