4xtechnologies has been developing tools that let you easily created 3d applications for consoles including ps2, dreamcast, and xbox, as well as gamecube.

“Ph?nix 3D is a set of programming libraries and tools for the development of realtime 3D software such as video games or multimedia software.
Written in C++, Phoenix 3D is object oriented and can be easily used by any programmer familiar with this language.
Serialization of data is one of the main strength of Phoenix 3D.”

Check it out at there site:
http://www.4xtechnologies.com/phoenix.html