According to rumour, OS4 will have a 3D acceleration graphics system called Nova, the successor to Warp3D. MiniGL or something similar will probably run on top of this. No doubt it won't be hard to get SDL and MESA wrapped to Nova. The hard part will be the drivers...
btw. SDL is a great wrapper, but it's horribly slow and bloated and this makes its applications limited, even on G3s and G4s. I could probably say the same for MESA, in fact.