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C++ is how I'm making mine. I use vulkan for graphics, this will get you up and running with vulkan https://vulkan-tutorial.com, then you can follow any OpenGL tutorial to figure out how to do specific graphics things, here are some vulkan samples https://github.com/SaschaWillems/Vulkan. For physics I'm doing my own thing, but for 3D I'm using bullet. I haven't done any deep research on audio, I'm using Fmod for now. I made my own image/mesh loader from researching how files format work. And UDP networking.
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