If all you want is to design your models in Blender and read them into your program (without the help of any large engine) then I can advice exporting your models from Blender to the Wavefront (.obj) format. This is a really trivial text format, at least if you're interested only in the simple geometry.

Short description: Lines starting with "v " (v followed by a whitespace) describe a vertex. Lines starting with "f " describe a face. A face is a sequence of vertex indexes (counted from 1). You can select "Triangulate" when exporting a model in Blender, then you will get only triangle faces, so things get even simpler. For the start, you can ignore other lines of the obj file. So reading this file is really simple, and you can design alll your meshes in Blender.