I was messing around yesterday and ported over the GBA 3D engine to the DS. It was pretty easy to replace the software textures with the hardware rendering. Yeti is a pretty nice engine and it looks like adding 3D model support as apposed to sprites will be pretty simple (frame work is all there if not exactly functioning). No emus run it so can’t do much for screen shots sorry.
Yeti seems to have disappeared which is such a shame. It is a pretty powerful little engine that has great performance and nice graphics (a bit better than doom i would wager). If anybody knows where it is off to let me know.