@rapierphysicsplugin (beta-ish) released: https://www.npmjs.com/package/rapierphysicsplugin
Demo code can be found at: rapierphysicsplugin/packages/demo at main · mikemainguy/rapierphysicsplugin · GitHub
No sandbox demo yet. Currently evolving quickly, goal is to make multiuser drop in replacement for havok (though using rapier currently).