For me, I think I get the most mental benefits out BJJ. I'd wager any martial art with live sparring would give the same results.
When you're doing live sparring, as opposed to just drills, you have to make constant, near instant, adjustments to your defense, look for offensive openings, scan your rolling partner's movements and try to anticipate their next attack, all while being aware of other trainees on the mats (to avoid a random foot or falling body), and working to slow your breathing and maintain composure.
Whatever wandering thoughts I had bouncing around in my head before a set of heavy deadlifts, all that is gone after, because the effort of pulling up the bar doesn't permit anything but complete focus.