PyNgine is a minimalist game engine written in Python, using the following modules:
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Pygame, a well-known set of modules designed for writing games in Python
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PyOpenGL, a cross platform layer between Python and OpenGL
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PyODE, a Python bindings for ODE, the Open Dynamics Engine
For getting started, just installing PyNgine using pip:
$ pip install pyngine
Check out the documentation and the wiki for further information.