Ogre3D is most likely the quickest prototyping choice for me right now simple because it's what I (and co-works) have the most experience in. However Unity is really calling my name for a number of reasons, mainly because it's seems to support high level scripting while remaining flexible. Cross platform code base is also important:)
Also looking into voxel engines like Voxlap, which was used for Voxelstein 3d.
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