A few months back I tried - and failed - to write a basic 2d physics engine for my JS canvas library. Before then, I tried to use existing JS physics engines with the library ... but none of them integrated nicely; the closest I got to making something useful was with Matter.js (see Codepen demo[1]).
Rapier has a WASM version, and JS bindings. I'm already looking forward to see if I can get the engine working with my code. Is there a JS-focussed community around Rapier where I can ask questions if I get stuck?