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You are better off using either SDL or SFML. There are tons of getting started guides out there and this subreddit is filled to the brim with questions about these libraries because it's apparently very popular for young beginners to want to write game engines, so be sure to search the archives for help. Also be sure you understand the basics of the preprocessor, compiler and linker before you try to use a library, otherwise we get another question from you tomorrow about "Cannot find SDL.h"...
I have been using OpenSceneGraph for over 20 years. It is used in the military a lot and I myself have seen it used to simulate war scenarios with realtime data aboard of a command-and-control center of a battleship.