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The Irrlicht Engine is an open source high performance realtime 3D engine written and usable in C++. It is completely cross-platform, using D3D, OpenGL and its own software renderers.
Vincent ES 1.x is a 3D rendering library based on the OpenGL (R) ES 1.1 API specification (Common Lite) for embedded devices. ATTENTION: A new fixed pipeline implementation is being work on here: https://sourceforge.net/projects/oglsc