Has anyone heard of the Irrlicht engine? It's fairly new and I read somewhere that out of a bunch of engines the person tried, it was one of the easiest to use. Check it out here
http://irrlicht.sourceforge.net/ I know it doesn't have the best screenshots, but I think the engine may be way more capable than those screens show. You also might wanna check out the tutorial sections, they have a nice couple of tutorials on getting started in the engine, and theres even one there on integrating the engine with ODE.
A game engine information page.
http://members.chello.at/theodor.lau...s/3dengine.htm
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Irrlicht Open source under the most liberal of licenses, this small but powerful engine is the best you can currently get. It ties in with several free physics engines, several programming languages, and it can do decent 2D work too.
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A review of Irrlicht on Freshmeat
http://freshmeat.net/articles/view/1182/
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In my opinion, the best thing about Irrlicht is the learning curve. I was literally programming 3D applications after I had examined the "hello, world" sample program. It uses a class-based system that is intuitive and easy to remember. It is also simple, and much of the complexities are handled by the engine itself, rather than making the programmer responsible.
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If you download the SDK, there are demos included, some of them are especially nice, like the one showing per-pixel lighting, absolutely stunning to watch in real-time.