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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...).
the Balls Graphics Library aims to provide all the tools you
need to develop artificial worlds, including a script-driven 3D
modeler, OpenGL-based renderer, physical simulation engine,
and realistic image synthesizer.