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Yeti3D comes to mind, but i have never have used it
The Yeti3D engine is a software based 3D engine which was originally developed for handhelds like the GameBoy Advance and mobile devices like PalmOS and mobile phones by the Australian coder Derek J. Evans.
Officially there are ports available for the GameBoy Advance, GP32, PocketPC and the Nokia Series 60 mobile phones. Desktop ports include Win32, DirectDraw, OpenGL and Linux. Console ports include the Sony PlayStation? (PSone) and the Nintendo GameCube?. [/quote:f6bd983f3e]