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I've been actually working on a 2d engine myself called BallPhysics, but it is in very early stages still! Here is the sandbox demo that I made with it. It needs a lot of performance improvements and a good documentation, but my I don't really have much free time so it's only getting there slowly, it may take some time. I'm also planning to expand the demo into a platform where you can build and share your physics based creations / machines with other people.
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btw canon has been abandoned for years. it continues to receive support on here: https://github.com/pmndrs/cannon-es which next to bug fixes also gives it types and esm/tree-shaking.