Forge Viewer has (or at least had) an experimental support for loading glTF files directly but it looks like that feature is broken at the moment.
gltf-models
Jul 16, 2020 — RFEM and RSTAB models can be saved as 3D glTF models (*.glb and *.glTF formats).. Oct 31, 2020 — The 3D model can in the form of GLB or GLTF format and these 3D models can be loaded at runtime without conversion. Which is an .... X_ITE examples - shows numerous glTF models in X3D scenes. K Shell's examples: one and two - shows a glTF model in an X3D scenes. Andreas Plesch's ... 939c2ea5af
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