Blitz3D is a "simple yet powerful environment for game creation - simple, because its based around the popular and easy to use BASIC programming language; and powerful, thanks to a highly optimized underlying 2D/3D engine." (marketing blurb from their website). It's now easy to use it together with Blender thanks to Diego's Exporter.
Diego ['GaNDaLDF'] writes:
After months of developing I'm glad to annunce that I've just released the 2.0 version of my B3D Exporter. The B3D Exporter is a script to export your models in the BlitzBasic format useful to all game programmers that use Blitz3D or Irrlicht. In this new version I've added the support for vertex color, multi texture and multi UV in this way you can lightmap your levels directly in blender and in the same way you can make your normal maps, all this in only one powerful package.