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raylib is a great way to get your feet wet: https://www.raylib.com
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you'll need a 3d model format - use GLTF. Your other option is FBX (and maybe .OBJ to get started); FBX is the de facto standard, but GLTF is open source, much less complex, and doesn't rely on an overcomplicated semi-proprietary FBX sdk to just load and render geometry. Alternatively, just use assimp, which is probably a far easier / saner way to handle any and all asset loading and file formats, lol.
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assuming that you have any intention of having whatever you build be even remotely crossplatform, you should absolutely make a point to learn and master cmake, if you haven't already, and you should definitely use / build off of glfw