Chipmunk

Uses bounding box trees and Erin Catto's contact persistence algorithm for efficient impulse solving, as highlighted in the features for rapid broad-phase detection.

Supports layers, exclusion groups, and callbacks for custom effects like one-way platforms, with examples included in the demos for buoyancy areas.

Written in C99 with no external dependencies, making it easy to compile and integrate across various platforms, as emphasized in the philosophy.

Includes multiple joint types for creating complex interactions like vehicles and ragdolls, with breakable joint support via callbacks, as noted in the features.