http://developer.stonetrip.com/ the documentation is online, beware, you'll need some french from time to time. looks well-structured and features many screenies for better understanding. i'm probably looking deeper into it.
@expert: in "import", there's a full description how to get a model from blender to shiva. and i cannot proove anything nor am i willing to, i am not posting here as an engine defender but wanted to inform you about this piece of software that looks good at first glance.