Crystal Space

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Crystal Space is game library with focus on 3D games. It is licensed under LGPL and useable on many platforms with C++. It has most of the features a state-of-the-art 3D engine must have (lightmapped and stencil based lighting, shader support, mirrors, alpha transparency, 3D sprites, particle systems, halos, volumetric fog, scripting, OpenGL, skeletal animation using CAL3D, font support and physics using ODE).

It can optionally use OpenGL, SDL , X11 or SVGALIB and also (optionally) use assembler routines using NASM and MMX. There is an add-on library called CEL that makes a lot of tasks within it easier and will hide the internals of the engine from the programmer, or let them access the internals if they choose.