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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.
...The source code has only one mini3d.c, and a single file implements everything and is easy to read. No third-party library dependencies, no complicated project directories. Standard D3D coordinate model, left-handed system plus WORLD / VIEW / PROJECTION three matrices. Implementing Cropping: Simple CVV Cropping. Up to 1024 x 1024 textures. Use the depth buffer to judge the image before and after. Perspective Texture Mapping and Perspective Color Fill. Accurate polygon edge coverage calculation. The rendering engine has only 700 lines, the modules are clear, and the backbone is prominent. ...
...It currently supports an OpenGL implementation, and it compiles under Windows and Linux OS's. It's still under development, and the future releases will include more features, like a D3D implementat
Realtime 3D game/visualization engine, written in C++, scriptable through Tcl/Tk, Python and Lua. Supports D3D and OpenGL for rendering, runs under Linux and Windows.
Ocelot3D is a 3D Engine based on DirectX9. It uses direct3D features and it's full integrable with d3d code. You can also extend the engine thanks to the virtual hineritance structure
Vanilla is an Open Source realtime rendering engine under windows and linux. It uses opengl or d3d for rendering and features flexible scene graph, plugin-in based object management system, intergrated c-like scripting system and more.