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Simplest way to get into 3D?-specific

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I am making lots of nice simulations of crowd dynamics and stuff like that, but it is all done in pygame, so its only circles instead of people etc. I am looking for a way to go into 3D, and actually have models and animations for the people that I am dealing with. I tried looking into OpenGL, but appearances its great pain to import models into it... all it can do is triangles and boxes it seems like to me... Anyways, anyone knows of some way to achieve this in a simplest way possible?

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OpenGL is probably the "best" way here. I've seen some scientific visualization packages for Python (such as VPython) but I don't know about the performance.

I recommend using the Python wrapper for an engine like OGRE or Irrlicht and using their model loaders.

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