Picophysics: Single file physics for games on platforms like N64, PSX, DC

Everything being static inline makes it hostile to these older systems which have limited RAM. Use of float makes it unlikely that you’d run it on the PlayStation, which has no FPU.

It's hand written and should also work on microcontrollers like ESP32s or Pi Pico 2. Have you tried anything like that yet?

The Pico in particular has enough RAM and supports floating point math.

Sounds interesting, but there isn't any description or readme to go by.