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There are libraries between complete game engines and pure OpenGL
(programming.dev)
Did you realize something regarding programming that you should have realized years ago? Then post it here, we don't judge
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I was writing my first game in XNA .NET framework, and I'm really glad I had that experience. It forced me to understand (and figure out) the insides of a game engine, such as collisions, GameObject model or game loop really well, and since by that time I had no idea something like game engines exist, I learned to not take those features for granted and actually had to research and write them.
When Unity went free, I appreciated the features so much more, and now I also see that some of the newer developers have no idea what's actually happening in the background, which is a shame.
I'd recommend that anyone interested in gamedev starts more low-level, and only after that gets to more heavyweight engines. Sure, you probably won't make a 3D game, but making a simple platformer from scratch is an amazing learning experience.