C++ 3D Model Animation libraries?

Question

I have my own game engine using C++ and OpenGL, but I have models with individual pieces that can be moved, and Im not sure how to animate them without hardcoding it. Are there any libraries that would provide a solution via scripts or IK or some other animation technique without resorting to a game engine such as Ogre?

Answer 1

Cal3d could be an option. Skinned character animation without needing to import a whole engine.

Answer 2

If you want physics, there are many open source physics engines, such as ODE and box2D.

If you want game-like behaviors, an embedding scripting language like lua is common for game engines.