jrouwe/JoltPhysics ? reverse-engineered prompt

Build me a C++ physics library for games and VR that focuses on fast rigid body simulation and collision detection, and make it friendly to modern multi core use. I want it to feel production ready, with deterministic simulation, support for loading and updating bodies in the background, and collision queries that can run alongside the main simulation without everything blocking.

It should handle the common shapes like spheres, boxes, capsules, convex hulls, meshes, and terrain. Please include constraints and motors, sensors, ray casts and shape casts, ragdolls, character controllers, vehicles, buoyancy, and optional large world support with double precision. If soft bodies and GPU hair fit naturally, include those too.

I also want a simple HelloWorld example, a sample browser or viewer so I can try features quickly, performance tests, unit tests, and decent docs so someone can learn by example. Keep it portable across major desktop and mobile platforms. If you need details, check the current docs online and follow the style of a clean open source engine.