VisPy features:

• You control the main loop. (VisPy uses pygame)
• OpenGL 3D.
• Integrated library for basic geometric shapes: triangles, cylinders, cones, arrows, spheres, bars (box), disks, lines)
• Also more complex 3D objects:
  • Curves: To generate curves out of points in real-time
  • Grid: Background for the curves
  • Plot: Plots curves added by the user and a grid to show an osciloscope like display.
  • Articulated bodies (using orocos-kdl)
    • Frames: Three arrows, ortogonally oriented.
    • Segments: Bars representing kinematic links.
    • Articulated: A kinematic chain made out of segments.
    • Articulated tree: A kinematic tree made out of articulated bodies.

The git repository is here:

git clone git://www.memelabs.net/git/vispy.git