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model animation

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I've started writing a game engine with OpenGL and SDL (and added some Lua scripting of sorts yesterday). Anyway, I'm looking for some advice. What's a good format to use? (preferably one that's not restricted in any way). What should I avoid when coding for models with animation? Currently I only have OBJ loading written. EDIT: And is there any free app that can be used to work with the format? <-screenshot

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