There a quite
a few bindings for other languages, including .NET and Java. I haven't used them, however people seem to be happy with them.
I think Horde3D would work for your task. Check out the
"Chicago" sample, which basically already does what you want. You would have to create a few new animations and characters and model your room in Google Sketchup or something and you'd be done. However, this does not include physics or motion paths. You would have to add that in yourself (or rather use
someone else's work) since Horde3D is just a renderer.
That aside, I would also urge you to reevaluate Blender as an alternative. I think that has some kind of simple 3D game framework included and might be even easier to use. But I have never tested that.