An update, I am examining refactoring the addon to use a different more flexible, complete and maintained physics library.

Possbile benefits:

• WASM based (could be faster, I have not seen this always the case)
• Supports more shapes and all collisions of shapes (including trimesh!)
• Better documentation on the concepts (and common mistakes)
• In addition to raycasting, also supports shapecasting (great for testing character movement)
• More actively maintained (for bug fixes, etc.)

If I do refactor, I am going to try to keep it all compatible, at least be able to open projects, etc. and porting instructions if any are needed. I am still doing research on this other library.

More  details on the library I am reviewing are here: https://rapier.rs/

If anyone already has experience with this library (good or bad), please let me know.