CrystalSpace is a portable modular 3D SDK, including many components for building various applications and games - these are still quite useful for projects that do not involve 3D. CS is still very much in development, so anyone who feels inclined to do so can contribute to the source. There are a number of incomplete components still needing to be finished, and a wide array of possibilities for new contributions; for more information about what is missing and a list of currently known bugs, please visit the Developer's Project page at SourceForge:
Skeletal animation and dynamic shadows let you create characters that look and feel more lifelike. We support skeletal animation through the cal3d library but we also support our own skeletal animation system. Including support for 3D hardware based animation.