You may be hard pressed to find exactly what you are looking for. You do ask for quite a bit in your post. If your needs are so specific and you are not satisfied to work with what is available, you may be stuck with writing your own.

Usually there are game libraries that have a few features or a couple of big libraries with a ton of features. Even working in C, I doubt you'll find exactly what you are looking for without a little bit of leg work. I'd recommend working with a library that has the basics and build up to what your game project(s) require.