However as you are probably not working with bare metal and instead are using a developers toolchain/SDK/whatever you have other options. Indeed if the bundled programs are not viable for you to make things in there should be methods to convert from your standard image formats which you can just stick in a makefile.
3d is a bit more tricky assuming you mean making use of the 3d hardware rather than 2d graphics using visual tricks, the standard libnds stuff has an openGL like syntax* and I once saw an attempt to make a directX like syntax but it was ages ago. As for model types and restrictions I would see the toolchain itself as I am not familiar with the homebrew side of 3d.
*I mention this mainly as unlike the 2d world 3d is more than just your model- textures, fog and shadows all play into it.
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