I'm with VasiliyFamiliya's recommendation. DATLib is amazing if you already know C you can hit the ground running. There are great examples to get you started.
The documentation is superb!

The tools VasiliyFamiliya points to are valuable for colour reduction and sound integration. Blastar also provides a fade calculator that is awesome!

NGDK is highly anticipated but as far as I know it does not run on real hardware ATM.