Raylib is a nice compact and very portable multimedia library made by raysan5. It manages hardware acceleration and compatibilities problems, and has a complet set of libraries for multimedia, including audio, video, pictures, 3d, mathematics or physics components.
We will see here how to build it (in may 2025).
: Update november 2025, didn't noticed at the time I wrote this blog post, but found it in raylib 6.0 Wishlist. One of the authors, Bigfoot71, implemented basis of pure software rendering, it this basis was merged in october in raylib4Consoles/raylib (see this merge link to have a list of additions), the authors work is now are smaller steps to improve it.