The engine you want is almost certainly a Wankel.
However, Norton who were producing them until the mid 1990s got rid of all those projects sadly. Similarly Midwest who were trying to develop similar engines at Gloucester then somewhere in Germany are no more either.
However, a brief trawl around the web found
this firm who might just do exactly what you want, although a search on "Mazda rotary" throws up several more.
G