Aurora3D ??

BlitzMax Forums/BlitzMax OpenGL Programming/Aurora3D ??

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This could be useful as well: http://en.wikipedia.org/wiki/Game_Blender

...and it supports rigid body dynamics...
...and it's Open Source...
...and it can be extended via Python scripting...

This seems not too shabby as well: http://www.garagegames.com/products/1 (Torque Engine)

..although it doesn't, as yet, do dynamics etc.

Russell