Personally, I'm glad DRGT doesn't have a full blown built-in physics engine, this is a detail that I'm interested in implementing a solution for instead of attempting to tailor a "one size fits all" unity-ish solution to work for my desired implementation. Once you start digging under the hood of DRGT you'll find it has many of the utilities (geometry/LERP functions, etc) you need to get there and you're usually just an abstraction or two away from a working implementation.
I don't think there is a "right answer" here, it all comes down to personal preference.