There's no universal 3D API for DOS. Most "OpenGL for DOS" only provide software rendering, and of course there's no Direct3D for DOS.
One exception to this is MESA for DOS, which you can maybe think of as an OpenGL replacement. However all hardware acceleration drivers for MESA are really old and only found in really old versions of MESA. They only included 3Dfx Glide 2 (Voodoo Graphics/Voodoo 2), Matrox MGA, ATI Radeon 128 (Rage Fury, XPERT 99, and XPERT 128), S3 Savage, Via Unichrome, SiS GPUs, 3Dlabs gamma, Intel i810 (early Intel 8xx series IGPs), ATI Mach64 during that time period that they still were working on Mesa for DOS. And MESA was for other operating systems too: not all of these drivers supported DOS.
So if you had a version of MESA for DOS, and compiled it with all available hardware acceleration support, you might be able to write a Glide wrapper for pure DOS. But it would only support an ancient videocard. Also, in my experience, the hardware supported by MESA were only videocards which had DOS support already through a proprietary 3D API, and all MESA's hardware acceleration drivers did was wrap those proprietary 3D APIs to their OpenGL-like API.
So... you'll still be restricted to videocards that *already* have MS-DOS 3D acceleration support. So if you're going to do this anyhow, you may as well wrap directly to those APIs. For a list of these cards, (more or less) see vetz's list of proprietary 3D APIs. 3D Accelerated Games List (Proprietary APIs - No 3DFX/Direct3D)
All that said, someone could certainly write a Glide -> Mesa for DOS wrapper in theory, but the best you'd have on modern cards is software rendering. Unless it were possible to write *brand new* DOS drivers for modern hardware for MESA for DOS, which AFAIK it is not really possible nor is there interest, and in most cases there's not enough information on modern hardware to write said drivers.
Going a real roundabout way, people have run DOSBox for Windows IN pure DOS using HX-DOS DOS extender. http://www.xaver.me/drdoswiki/index.php?n=Main.HX-DOS
http://web.archive.org/web/20141003032417fw_/ … heth.de/HX.html
I *don't* know if anyone has tried anything weirder with it, like DOSBox+Glide-patch+OpenGlide+HX-DOS. IIRC HX-DOS permits OpenGL rendering using software rendering, but it's only fairly simple OpenGL support.
When you actually have the sourcecode to the (older) Windows game you want to play in pure DOS, you can sometimes make MESA be part of the toolchain as a new renderer. This is what happened with the new Quake 2 DOS with 3dfx Glide rendering: Quake 2 DOS with 3DFX Rendering [56k Warning]
However, that made an additional DOS Glide game, not fewer ones. 😉
A final note: a fair number of DOS Glide games were statically compiled with the Glide libraries. As of this writing, this makes them impossible to "wrap". The only thing that can be done with these is to use a DOS emulator with 3DFx support, such as DOSBox+kekko's Voodoo patch, or PCem, or (eventually) current versions of MAME. And these emulators all require Windows or Linux.
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