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several vaguely related projects worked on by me: a 3d engine with a javascript-like scripting language (pdsys); an older scheme dialect (vmsys); ... (2009-04-28: I have been gone for years, may try to put up some newer stuff...).
Vincent ES 1.x is a 3D renderinglibrary 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
A 3D hardware shader language, which is really open source and
replaces CG,CGFX,HLSL and similar tools, is cross platform and truly
vendor independent.