firewall choice

Hi,

What's the "best" [1] choice for firewalling these days, in the list's opinion?

There's pf, ipf and ipfw. Which is the one being most recently developed/updated?
I'm used to using pf, have done for over a decade. But OpenBSD's pf has diverged 
a lot more from when it first came across. There seems to be a lot more options.
Is FreeBSD's pf being actively developed still?

ipfw seems a lot more syntatically complex than pf. Is it more capable also?
I know nothing about ipf yet.

[1] up-to-date, versatile, low overhead, high throughput, IPv6-able,
traffic shaping/queueing

thanks,
-- 
J.