May I suggest you look into the Unity game engine to whet your appetite. It's apparently real easy to use and gaining in popularity. I can't use it myself because I won't stoop to the Micro$oft level of computing and instead hang with the gods of Linux. Unfortunately the Linux windows emulator (WINE) won't run it and a VirtualBox with windows in it doesn't give the correct display adaptor.
There's also Irrilicht, Crystal Space and Ogre you might want to have a look at. I understand that Ogre and Crystal Space for instance can utilise the Bullet Physics engine which along with ODE are better at simulating things like soft body collision than the Unreal engine.
Alternatively I personally use Blender for designing which has it's own built in game engine which I haven't bothered to try out yet as I'm going in more of a CGI photorealism direction.
I'm a programmer myself with 26 years experience but have recently decided to change direction from writing database, POS applications and just lately websites to something a bit more colourful.
So bear in mind that I'm an amateur with barely 3 1/2 months experience at 3d modelling when you get the results. However I do know what I'm doing and our Apocalypse boy type character is is beginning to show promise.
Why Blender you say? Well I tried using Daz3d and quite frankly anything you want to do requires an addon that you have to buy. Blender quite frankly made it look like a Childrens' toy from the first click on its' little Icon but there is a bit of a learning curve involved.