You can implement the graphics part of it using WebGL. It's strictly a graphics API for drawing to the screen. But there are specific libraries for eg physics that you can use in your WebGL 2 app, or entire 3D engines (like those you mentioned) targeting WebGL around. Or you can DIY.

> is open gl the non web version of web gl? or are they completely different?

The current version of WebGL, WebGL 2, is like OpenGL ES 3.0.