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It's possibly a bit fragmented right now, but I think worth looking at: Filament, bgfx, sokol_app/sokol_gfx. What these all might be lacking is "good tooling" though.
Indeed, familiar with all. I think they’re one layer lower than what I’m envisioning, but very much on-point with respect to being shaped like modern GPU APIs.
So, sounds like what you want is a cross-platform and open source SceneKit :)
and with a C API please. my heart bleeds when I see all those nice higher-level APIs on OSX that will always remain obscure because they're written in obscure languages, and will never 'escape into the free world' ;)
I can assure you, macOS also has terribly obscure low level APIs. ;)
the 2 big problems that are often underestimated and solved by Unity etc...: (1) extensive workarounds for platform-specific quirks and driver bugs, this is more important for some platform than others (e.g. Android is bad, web is pretty good since the browser takes care of this)
(2) as Aras says: the tooling, specifically asset pipeline and scene+asset editing, a standalone Unity editor without the engine part would work nicely for this the 'other parts' aren't even that interesting IMHO, since they're very game specific, and small games don't need much
...but all in all I feel pretty good about the approach of standalone single-header libs (or standalone modules in a language with proper module system), the important part is "standalone", not a hierarchy of headers that depend on other headers
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