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Unity Unity3d, ShiVa3d alternatives for android?

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I hope I'm writing this topic in a proper forum. I'm wondering: is there any alternative (most preferably cheaper or free) to Unity and ShiVa3d for high-details, animated (including humans and interaction like hands with some objects) 3d games for tablets on android?


Such set of tools like in unity would be highly appreciated. I don't mind taking a lot of tools and merge it to my needs.


Also performance is a key.


Thanks a lot for any reply. 

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