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FBX: while FBX is proprietary, it has both binary and text versions of the format, provides color support, and it provides an SDK which can make integration easier. Here is a link.


GLTF is a standardized 3D file format from the Khronos group, the same people behind OpenGL and Vulkan. It has both text and binary formats (the latter called GLB) and is a full-featured format, including support for vertex colors. tinygltf is an example of a C++ library for loading and saving GLTF/GLB files, but there are many others, I'm sure.

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