Did you considered using pyphysx or pybullet as a physics backend for this project? Rest will be writing a wrapper that is similar to unity way of handling rigidbodies.

Never heard of that before, but I’ll look into it! 

pyphysx has a huge dependency list, including matplotlib, scipy, numpy, numba and other things, which isnt necessarily lightweight... I did clone hpp-fcl and build it for Windows, which only requires numpy. Numpy is kinda big and slow to import.

pybullet is 80mb from source, which I need to install because they dont have wheels for Python 3.10 yet. It seems quite promising.