You could use
Klimt, a GPL'd fixed point 3D library that whose API is virtually identical to the OpenGL/ES (OpenGL for Embedded) spec. CVS doesnt compile at the moment for Linux/QTE but the last release version did, as I haven't sent a recent patch back upstream to the maintainer in a while.
If you are interested I could post my
Freeglut port and the related libraries necessary for programming for the Zaurus using the GLUT api. It requires a patched Klimt CVS lib, a back port of the KDE projects QT C bindings, and a custom event loop library that handles the translation between the QT event loop and GLUTs main loop. Altogether they are several MB compiled, and I dont have any webspace to host binary ipks or source tarballs, so they've been collecting virtual dust on my PC for a few months.
Note: I've only ever tested them on my 5500, any other Z may or may not work without a little manual source patching.
Cheers,
Ryan