Qt Quick 3D requires OpenGL or OpenGL ES version 3.1 or newer.
Qt Quick 3D supports running on OpenGL ES 2.0, but with a limited feature set, depending on the driver and available extension. It's recommended that you evaluate the capabilities of your driver to find out which features will be available to you.
Known limitations running with OpenGL ES 2.0 are:
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https://doc.qt.io/qt-5.15/qtquick3d-requirements.html