I need to display and manipulate data in 3D in winforms or WPF application. It may look something like this:

What libraries I can use to achieve this goal?
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Have a look at this link which is a nice tutorial about the System.Windows.Media.Media3D library, which is used in WPF.
Here are some useful links:
MSDN: System.Windows.Media.Media3D-Namespace
3D Game Development with XNA Framework