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Engines? 3D, not game, simple, opengl

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Does anyone know of any engine source, tutorials or the like for a simple 3D opengl engine? Basically all I want to do is display squares, of a certain magnitude and color at a certain location. That is it. I guess later I could do an interface like rotation and stuff, but really I just need visualization right now. A simple window that opens when i run this other program that just displays these boxes. Everything I find on the net is game oriented and isn't this simple so im just asking for help here. I cant use directx because it needs to compile on unix machines with opengl. I would prefer programming in C or C++ then, no C# because of the mac thing.

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