Delta 3D engine (free).

Miscellaneous Forums/General Discussion/Delta 3D engine (free).

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It looks like it also includes a map editor and models and textures, all free.

Features:
http://www.delta3d.org/article.php?story=20041110105239504&topic=docs

It looks pretty feature-rich to me. It looks like it lacks the "high-tech" features like shaders, but seems to be pretty complete otherwise (infinite terrains, vegetation render systems, BSP, animation blending, etc, etc.) I think this would be great if this could be ported to BlitzMax.