GRZ is working on an Irrlicht port.

The Irrlicht Engine is an open source high performance realtime 3D engine written and usable in C++ and also available for .NET languages. It is completely cross-platform, using D3D, OpenGL and its own software renderer, and has all of the state-of-the-art features which can be found in commercial 3d engines.

The port is in an early stage, but for those who want to follow the development, might want to have a closer look.

http://www.gp32x.com/board/index.php?act=ST&f=45&t=43068