libvita3d
TL;DR: Don't use this.
simple and fast (using the GPU) 3D library for the Vita.
A big THANK YOU to Xerpi for writing the original libvita2d, most of the work was done by him. Sorry to those I offended by not mentioning him.
Install instructions: download and unzip, run make, run make install, and add -lvita3d to your LIBS variable in your Makefile.
If you somehow found this, it's outdated. Go and use the real 3D library for Vita, that one actually supports shaders.