I'm surprised no one has mentions Nitro Tracker. It was build for the NDS. http://nitrotracker.tobw.net/ I believe it's written in C. It might be possible to port that over, or run it in an emulator, if one existed. I think the emu could handle Nitrotracker since it's not too intensive. Now, if we could get an emu for the NDS I think allot of things would be possible.

I'm not talking about games perse, but the homebrew applications. I'm not too sure though, it's just a thought.