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This project is not currently being supported but feel free to use it as an example.
delta3d is a robust simulation platform built using open standards and open source software. It features full toolchain development supporting a wide variety of free and commercial software.
mgE3D - mgEngine3D is an unfinished 3D Engine based on OpenGL. By now
it provided several features like scenetree, mesh/skeleton mesh rendering and animation, terrain, materials, textures, multiple viewports, Python exporter for Blender and so on.