I deploy a webapp on two different containers (Tomcat and Jetty), but their default servlets for serving the static content have a different way of handling the URL structur
I had the same problem and I solved it by using the code of the 'default servlet' from the Tomcat codebase.
https://github.com/apache/tomcat/blob/master/java/org/apache/catalina/servlets/DefaultServlet.java
The DefaultServlet is the servlet that serves the static resources (jpg,html,css,gif etc) in Tomcat.
This servlet is very efficient and has some the properties you defined above.
I think that this source code, is a good way to start and remove the functionality or depedencies you don't need.