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You can do 3D with Go and Raylib quite easily, without a lot of math, not sure you can build a 3D rendering engine with it though https://github.com/gen2brain/raylib-go
Haven't used it though there is also https://github.com/harfang3d/harfang3d
and https://github.com/g3n/engine
Raylib is also well supported, on Discord, and there are bindings for other languages if you don't use Go. https://www.raylib.com/
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.