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Kinc (C interface) and Kore (C++ interface), are both mostly the same thing other than language and are multimedia frameworks, so they have a bit more than just graphics, still pretty thin overall though. Exports to nearly everything including consoles. Pretty sparse documentation so you're mostly on your own, and it's more opinionated than other frameworks (uses its own build system).
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SaaSHub
SaaSHub - Software Alternatives and Reviews. SaaSHub helps you find the best software and product alternatives
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Kinc (C interface) and Kore (C++ interface), are both mostly the same thing other than language and are multimedia frameworks, so they have a bit more than just graphics, still pretty thin overall though. Exports to nearly everything including consoles. Pretty sparse documentation so you're mostly on your own, and it's more opinionated than other frameworks (uses its own build system).
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filament
Filament is a real-time physically based rendering engine for Android, iOS, Windows, Linux, macOS, and WebGL2 (by google)
Have you tried Filament? https://google.github.io/filament/
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Urho3D is dead. There is the U3D project which is essentially a maintenance fork made after the original project was taken over by a crazy Russian nationalist. There is also rbfx which is a progression fork that is working to make improvements such as to the PBR rendering pipeline, making it work with C# if desired, as well as rebuilding and improving the editor. The original Urho3D is soon to be even more dead than currently, since the discourse forum is set for archival and deactivation at 4:00 AM tomorrow morning.
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MethaneKit
🎲 Modern 3D graphics made simple with C++17 cross-platform framework and rendering abstraction API on top of DirectX 12, Metal & Vulkan
I have had my eye on MethaneKit for a while, it may not be far enough along for what you want.
Related posts
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Preferred game engine
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3D game engine for lower end pcs
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Godot support for 3D is too primitive, and Unity has become a wild mess over the years. Is Unreal Engine the only remaining option for 3D projects?
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Looking for code only game engine
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Are there any cross-platform high-level fully programmatic mobile frameworks like Apple's SceneKit, SpriteKit, and GameplayKit that do not depend on special IDEs or visual editors?