I want to try my hand at writing a 3D game. However I don't want to start at such a low level of drawing individual triangles and writing my own 3D object loader and so on. I've heard of things like Irrlicht, Crystal Space 3D, and Cafu, but I don't have any experience with any of them. I'm looking for suggestions from people who have experience with these or other engines on which ones are well written, and are easy to get started using, without having to learn a ton of 3D math theory and how GPUs work internally.
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