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Re:Valve Announces Source 2, and It’ll Be Free by mintplant on Wednesday March 04, 2015 @04:18AM (#9143362)
If you're willing to go the Java route, LWJGL is pretty close to what you've described.

http://www.lwjgl.org (their website seems a bit odd right now)

Re:Valve Announces Source 2, and It’ll Be Free by gambiting on Wednesday March 04, 2015 @04:52AM (#9143448)
lwjgl is so plain it's no more than a wrapper around OpenGL context.

If you want slightly more than than(but still not a proper engine), I would wholeheartedly recommend libgdx: http://libgdx.badlogicgames.com/features.html