ReactPhysics3D

Avoids external libraries like STL containers, making it lightweight and reducing integration complexities, as emphasized in the README's philosophy of independence.

Includes both broadphase (Dynamic AABB tree) and narrowphase (SAT/GJK) algorithms, supporting multiple collision shapes such as spheres, boxes, capsules, and meshes for realistic interactions.

Features a sleeping technique for inactive bodies and an integrated profiler, helping maintain efficiency in simulations, as listed in the key features.

Comes with a debugging renderer, logs, and a testbed application with demos, aiding in development and troubleshooting without external dependencies.