f your are program savy go get Torque. There are free demos out there , Trust me
if you are not, look in to Virtools or 3dgameengine. Also demos are out there.
the basic way this works is you make your models, and animation then you export it. You can then import ot in to your game engine and program away. Virtools is a drag and drop style of design, where as Torque is more anlong the script file approch.