To be honest: you can not.
More precisely there is no solution that will work for on all platforms and all versions of all browsers out of the box. So you should add some constraints to this cross-browser requirement. VRML was never a widely supported solutions.
Some approaches if a subset is enough, as you posted:
SVG: see support table:
http://caniuse.com/svg[
^]
HTML5 canvas: see support table:
http://caniuse.com/canvas[
^]
(plugins and workarounds are available for older browser versions too)
Some other approaches:
http://www.jsgl.org/doku.php[
^]
http://raphaeljs.com/[
^]