Personally, I've had the best luck exporting from Blender into a common file format (I *believe* later versions of Blender have an AC3D export built-in - I know they have Imports. If not, OBJ or 3DS are good formats).
I don't think Blender's file format is a trivial thing to read --- I certainly haven't seen any specs on it, although it's been at least a year since I've looked...
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