In the past I have done some rigid body physics in GNU Guile (see https://www.youtube.com/watch?v=zBq3kW2jVxs for example). Of course if you need to simulate many objects, you will hit performance problems sooner if you don't use C/C++/Rust. Also the developer of Jolt has solved quite difficult problems, so I was quite happy to use it instead of rolling my own.