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There's kind of a lack of this for C++ in 3D, I think it's often due to the necessity of a secondary scripting language in game engines with C++, which isn't necessarily needed in Java or C#. SFML is like that (but also 2D), Godot is similar (but more geared towards 2D). Ogre3D is an actual engine like I mentioned earlier, not sure how easy it is to use. Cocos2d is higher level, but is also 2D only. I'm not fond of SDL, it feels like a windowing library with slow old school immediate mode stuff attached, so it ends up not being good at the rest of the tacked on things. SDL is popular as a windowing library, and it's why you see it used everywhere (but the most notable uses of it aren't using their drawing capabilities), I often see bgfx thrown around, and for you it might be a good choice, though I have no experience with it.
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