My latest hack "presence of the wise", a computer game engine with quaternions, numpy matrices and scipy algebra code. It has a balanced tree
which adapts with gradient descent to a minimum for managing the physics
of entities. Entities have a 3D armature with lines, quads and triangles (a la OpenGL). The file 3D/Physics4D.py contains collision code for 3D objects. There is also a small example in the file 3D/NPC/mimic.py, a Mimic (flesh eating chest)
where you can see a 3D entity.

The code is at http://erana.yellowcouch.org/python/ near the bottom of the page.

The license is BSD Revised.

Merry Christmass.