Well you can check SFML, Ogre3D, Irrlitch and SDL; you can check torque too.
You can also check these tutorials:
and see if you understand them.
The first one is wierd i icant understand in for example:
in thr firt ch its says "Next copy the files (usually .h, .cpp, .vs, .ps, and a data folder) into the folder it created in your project directory called "Engine/Engine"
What file?where do i get them?
its just stupid