Note that box2djs is also very capable[2], and has been around for years (it is port of Erin Catto's great work on Box2D[3]).
[1] http://subprotocol.com/2013/04/18/introducing-verlet-js.html
[2] http://www.jeremyhubble.com/box2d.html
[3] http://box2d.org/
https://www.youtube.com/watch?v=FtR_zA9elrM
https://www.youtube.com/watch?v=FtR_zA9elrM