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APOCALYX is a 3D engine based on OpenGL, OpenAL and other free libraries suitable in particular for the development of Programming Games, the genre of games like GUN-TACTYX or JROBOTS, where the player programs the AI of his own team of bots to make it fight against teams written by other players.
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Very good lua driven engine with lots of features,But it uses many libs so it is a little messy but you after some time with it you will find it very good engine.
Contact the author for licening Info you will be happy :) (Not entirly GPL).