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The BBC did a lot of work in this area (disclaimer: I worked for them), including creating an open source renderer: https://www.bbc.co.uk/rd/blog/2019-08-libear-ebu-audio-renderer-next-generation-open-source. The code is here: https://github.com/ebu/libear. Start at https://github.com/ebu/libear/blob/master/examples/objects_gains.cpp and work back through the code.
It's based on a description of the audio objects called the ADM: https://www.bbc.co.uk/rd/publications/audio-definition-model-software, there's open source software for managing audio objects here: https://github.com/ebu/libadm