Coin 2.0 is an opengl-based, retain-mode 3d graphics library that implements the open inventor 2.1 api. it also includes support for vrml97 and 3d audio. installing the suggested packages will enable extra features:

libsimage-dev enables loading of image files in sbimage
libfreetype6 enables use of truetype fonts
libopenal0a enables audio support
zlib1g and libbz2 enable transparent read of compressed files
coin version 2 is licensed under the gnu gpl. there is a similar, though opengl-only, library available under the more permissive gnu lesser gpl license in the libcoin20-dev package. for more information on coin, see http://www.coin3d.org/.