Yes, I'm switching to LispBuilder. Even though it doesn't say so on their homepage, it supports both SDL and OpenGL. Just grab it from the svn repo and enjoy.
I've forwarded them my fixes to get it going on the mac, and it runs just fine. Here's the classic gears example for your viewing pleasure:
Even better, there is also a Cal3D binding. A friend of mine, Randy Voet, is having a go at creating some player models for me. If all goes well that means I can skip forward to the next step sooner than expected. If not, I'll have to see what I can do to get the Cal3D models going.