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You can run a godot scene without the editor open. I use an editor plugin to do that. However, you'd have to create a scene with a node or setup an autoload in the editor. But then you'd have a code entry point. Godot would get you physics and scenes, and in my limited experience Godot seems capable of being very code driven. But there's tons of features that I don't know how you'd use without the editor (animations).
good engines for C++ that meet your requirements https://github.com/u3d-community/U3D https://github.com/rbfx/rbfx i highly recommend taking a look at rbfx, U3D doesn't have all the fancy features that rbfx has but deep down they are the same engine almost. They are forks of Urho3D, a mature engine that has existed from the year of 2011/2010.
good engines for C++ that meet your requirements https://github.com/u3d-community/U3D https://github.com/rbfx/rbfx i highly recommend taking a look at rbfx, U3D doesn't have all the fancy features that rbfx has but deep down they are the same engine almost. They are forks of Urho3D, a mature engine that has existed from the year of 2011/2010.
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