If you want to use only outside scenes, you may consider using an other form of scene manager, like OCTree. You could use Ogre3D for this.
http://www.ogre3d.org/If you want to use both outside and inside scences, you may take a look at Irrlicht. It support for both in the same map, but it is still in version 0.11.0.
http://irrlicht.sourceforge.net/