The physics engine mentioned towards the end, Jolt Physics [0] is used in the frankly blockbuster games Horizon: Forbidden West and Death Stranding 2 and yet opens its description with

> Why create yet another physics engine? Firstly, it has been a personal learning project.

which is really rather wonderful and inspiring to see.

[0] https://github.com/jrouwe/JoltPhysics

Its use in those games is no mere coincidence though, the creator of that physics engine, Jorrit Rouwé, has worked at Guerilla Games since the Killzone days.

https://jrouwe.nl/games.php

It has also become the default physics engine in Godot.

Also increasingly well integrated into Godot.