I ported Box2D-lite to R6RS Scheme a few years ago: https://github.com/dharmatech/box2d-lite https://github.com/dharmatech/box2d-lite If you decide to add a p

I ported Box2D-lite to R6RS Scheme a few years ago: https://github.com/dharmatech/box2d-lite https://github.com/dharmatech/box2d-lite If you decide to add a physics engine to your project, that might give you a head start, or at least some ideas. :-)