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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...).
CHAMP Animation Making Program, as its name suggests, aims to be a usable animation program primarily for GNU/Linux. It's currently being developed only by me (Thomas Clark), and is being written in C++. At the moment, CHAMP is not finished.