Best model format for bone animations?

Im using Blender to make rigged models for a game. What format is best for models with bone animations? I know wavefront obj and 3ds cant include bone anims with them.

im pretty sure .fbx saves the bones and animations

Is there any good documentation of the .fbx file structure? Need to be able to read it…
I tried googling but didnt find anything decent

what you mean file structure? like how to use it? or …

Need to be able to parse it… game engine made from scratch you see

what language are you making it in?

It does not matter.
Also I couldnt find any good fbx documentation on google.
check these 2 and see if they help you…i really dont know anything about it, sorry

.x have bones and animation