Minimal example of rapier.js working in node (v14) to simulate a very basic scene.
npm installnode index.js
You should see console output showing the position of the two entities every tick with additional event logging when they impact and seperate.
There are a few hacks required to use the @dimforge/rapier2d-compat package directly in node, they just involve setting up a few enviroment properties that are expected they can be seen at the top of index.js.
The @dimforge/rapier2d package can be used instead of the compat version, but requires a webpack configuration to build.