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What you're describing can be done with any engine that does support creating shapes from vertices directly. I'm the author of Blue Engine and, in case of icospehere, I have built something similar which you can check if it can suit you.
If you want to generate the mesh yourself from triangles, you can look at Christ Biscardi's video on a noise generated mountain in Bevy. There he generates a plane with subdivisions, so it's a good example. Code here https://github.com/rust-adventure/bevy-examples/tree/main/examples/spacecraft-noiseland
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