WebGL is a cross-platform, royalty-free web standard for a low-level 3D graphics API based on OpenGL ES
We have worked with two different libraries p5.js and three.js.
p5.js is a more simple library (in 3D design) than three.js because three.js is just dedicated to 3D objects and design.
Here you have one example of a p5.js and a three.js examples.