This answer is broken with the new version of the blender (2.62), and although I searched all the time, I have not yet found a fix. The last answer I found is shown in
https://github.com/jlamarche/iOS-OpenGLES-Stuff/tree/master/Blender%20Export/objc_blend_2.57%20(RC1 )
with instructions using blender to install add-ons for you (no longer use the command line!). However, although the script was updated just a few days ago, it also does not work for the latest version of the blend.
If someone finds or creates a fix, tell me and I will send it to a dozen places where the same question was asked.
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