This addon is looking promising enough, that I have moved to the early access phase.

50% discount for early supporters (though additional support is gratefully accepted.)

New ACEs

• Set Mass (body)
• OnCollision (body)
• CollisionData (JSON string with uid of target and normal vector of collision)
• Apply impulse at relative point.

If you are an early supporter and there is a very specific physics ACE you need for your project, please comment on this devlog, I will track it.

CollisionData:

const result = {
             target: {
                 uid: target?.uid, (c3 uid)
                 id: target?.id, (body id)
             },
             contact: {
                 ni: contact?.ni?.toArray(), // collision normal
                 ri: contact?.ri?.toArray(), // World-oriented vector that goes from the center of bi to the contact point.
                 rj: contact?.rj?.toArray(), // World-oriented vector that starts in body j position and goes to the contact point.
             }