コード例 #1
0
void CameraToolKit::setCameraUpVector( unsigned int iID, Vector up )
{
	ICameraSceneNode *pCamera = getCamera( iID );

	if ( pCamera )
		pCamera->setUpVector( up );
}
コード例 #2
0
void CSceneNodeAnimatorCameraFollowShip::animateNode( ISceneNode* node, u32 timeMs )
{
	ICameraSceneNode* camera = static_cast<ICameraSceneNode*>( node );
	IShip* ship = static_cast<IShip*>(Target);

	vector3df direction = (ship->getTarget() - ship->getPosition()).normalize();
	vector3df offset = direction * Distance;
	/*vector3df upoffset = ship->getUpVector();
	upoffset = upoffset.normalize() * 10;*/

	camera->setPosition( ship->getPosition() + offset/* + upoffset */);
	camera->setRotation( ship->getRotation() );
	camera->setUpVector( ship->getUpVector() );
	camera->setTarget( ship->getTarget() );


}
コード例 #3
0
bool terrainSceneNode(void)
{
    IrrlichtDevice *device =
        createDevice(video::EDT_OPENGL, dimension2di(160, 120), 32);

    IVideoDriver* driver = device->getVideoDriver();
    ISceneManager* smgr = device->getSceneManager();

    ITerrainSceneNode* terrain = smgr->addTerrainSceneNode(
        "../media/terrain-heightmap.bmp");
    terrain->setScale(core::vector3df(40.f, .1f, 40.f));

    terrain->setMaterialFlag(video::EMF_LIGHTING, false);
    terrain->setMaterialTexture(0, driver->getTexture("../media/terrain-texture.jpg"));
    terrain->setDebugDataVisible(scene::EDS_FULL);

    ICameraSceneNode* camera = smgr->addCameraSceneNode();

    const core::vector3df center (terrain->getBoundingBox().getCenter());
    camera->setTarget (center);

    // yes, Y is intentionally being set to X here
    const core::vector3df above (center.X, center.X, center.Z);
    camera->setPosition (above);
	camera->setUpVector(vector3df(1.f, 0.f, 0.f));
    camera->setFarValue(above.Y);

    device->run();
    smgr->drawAll();


	// This shouldn't cause a recalc
	camera->setUpVector(vector3df(1.f, 0.f, .01f).normalize());
    device->run();
	driver->beginScene(true, true, video::SColor(255,100,101,140));
	smgr->drawAll();
	driver->endScene();

	// Note that this has to be a slightly fuzzier than usual compare to satisfy multiple OpenGL environments
	bool result = takeScreenshotAndCompareAgainstReference(driver, "-terrainSceneNode-1.png", 98.3f);
	if(!result)
	{
		logTestString("Small camera up rotation caused bad recalc.\n");
		assert(false);
	}


	// This is big enough to cause a recalc
	camera->setUpVector(vector3df(1.f, 0.f, .1f).normalize());
    device->run();
	driver->beginScene(true, true, video::SColor(255,100,101,140));
	smgr->drawAll();
	driver->endScene();

	result &= takeScreenshotAndCompareAgainstReference(driver, "-terrainSceneNode-2.png", 98.9f);
	if(!result)
	{
		logTestString("Large camera up rotation caused bad recalc.\n");
		assert(false);
	}

    device->drop();
    return result;
}
コード例 #4
0
void loop_ctr(s4 &game_state)
{ 
    ISceneNode* empty_node = irrlicht->smgr->addEmptySceneNode();
    empty_node->setPosition(vector3df(0,0,0));
    ICameraSceneNode* camera = irrlicht->smgr->addCameraSceneNode(); 
    camera->setPosition({0,-250,-100});
    camera->setUpVector({0,0,-1});
    camera->setTarget({0,0,0});
    camera->setParent(empty_node);
    camera->setFOV(70);

    irrlicht->device->getCursorControl()->setVisible(false);

    irrlicht->smgr->setAmbientLight(SColorf(1,1,1,1));
    irrlicht->hud = irrlicht->smgr->createNewSceneManager(false);
    ICameraSceneNode* hud_camera = irrlicht->hud->addCameraSceneNode();
    matrix4 ortho;
    ortho.buildProjectionMatrixOrthoLH(
        irrlicht->driver->getScreenSize().Width/ortho_scale,
        irrlicht->driver->getScreenSize().Height/ortho_scale,-1.0,1000.0);
    hud_camera->setProjectionMatrix(ortho);
    hud_camera->setPosition({0,0,-100});
    hud_camera->setTarget({0,0,0});
    
    // temp objects ----------------------------------
    blist cmpnt_list, joint_list, tree_list;
    b_set(cmpnt_list,memory,sizeof(Component));
    b_set(joint_list,memory,sizeof(Joint)); 
    b_set(tree_list,memory,sizeof(CTree));

    irr::core::map<ISceneNode*,Component*> node_cmpnt_map;
    ISceneNode* ctr_parent = irrlicht->smgr->addEmptySceneNode();
    IMesh* cube_mesh = irrlicht->smgr->getGeometryCreator()->createCubeMesh();

    auto add_object_to_world = [&] (vec3 pos, vec3 scale, s4 a, s4 r, s4 g, s4 b) -> Component*
    {
        const f4 floor_position = 10.0f;
        Component make_cmpnt;
        make_cmpnt.id = CMPNT_ID; CMPNT_ID++;
        make_cmpnt.node = irrlicht->smgr->addMeshSceneNode(cube_mesh,ctr_parent);
        make_cmpnt.node->setPosition(pos.irr()); 
        make_cmpnt.node->setScale(scale.irr());
        make_cmpnt.node->getMaterial(0).AmbientColor.set(a,r,g,b);
        make_cmpnt.shadow = irrlicht->smgr->addMeshSceneNode(cube_mesh,0);
        make_cmpnt.shadow->setScale({scale.x, scale.y, 0.1f}); 
        make_cmpnt.shadow->setPosition({pos.x, pos.y,floor_position}); 
        make_cmpnt.shadow->getMaterial(0).AmbientColor.set(GREY_BLUE_SHADOW);
        for (s4 i = 0; i < MAX_JOINTS; i++)
            make_cmpnt.joints[i] = 0;
        make_cmpnt.tree = 0;
        
        b_copy(cmpnt_list,&make_cmpnt);
        node_cmpnt_map.insert(make_cmpnt.node, (Component*)blast_address(cmpnt_list) );
        
        return (Component*)blast_address(cmpnt_list);
    };

    auto add_joint = [&] (Component* A, Component* B, vec3 posA, vec3 posB)
    {
        Joint C;
        C.A = A;
        C.posA = A->node->getTransformedBoundingBox().getExtent() * A->node->getScale();
        C.posA *= (posA * 0.5f);
        C.B = B;
        C.posB = B->node->getTransformedBoundingBox().getExtent() * B->node->getScale();
        C.posB *= (posB * 0.5f);
        C.type = Joint::SNAP;
        C.is_connected = false;

        b_copy(joint_list,&C);

        for (s4 i = 0; i < MAX_JOINTS; i++)
        {
            if (C.A->joints[i] == 0)
            {
                C.A->joints[i] = (Joint*)blast_address(joint_list);
                break;
            } else if (i == MAX_JOINTS-1)
            {
                std::cout << "ERROR: Joint could not be added to C.A." << std::endl;
            }
        }

        for (s4 i = 0; i < MAX_JOINTS; i++)
        {
            if (C.B->joints[i] == 0)
            {
                C.B->joints[i] = (Joint*)blast_address(joint_list);
                break;
            } else if (i == MAX_JOINTS-1)
            {
                std::cout << "ERROR: Joint could not be added to C.B." << std::endl;
            }
        }
    };

    {
        Component* A = add_object_to_world(vec3(0,30,-20),vec3(3,3,3),BLUE_LIGHT);
        Component* B = add_object_to_world(vec3(0,60,-20),vec3(9,3,2),BLACK);
        add_joint(A,B,vec3(0.0f,0.0f,1.0f),vec3(0.0f,0.0f,-1.0f));

        Component* C = add_object_to_world(vec3(0,-90,-20),vec3(3,3,3),YELLOW_LIGHT);
        Component* D = add_object_to_world(vec3(0,-40,-20),vec3(8,10,4),GREEN_LIGHT);
        add_joint(C,D,vec3(0.0f,1.0f,0.0f),vec3(0.0f,-1.0f,0.0f)); 

        add_joint(A,D,vec3(0.0f,0.0f,-1.0f),vec3(0.0f,0.0f,1.0f)); 
    }
    // temp objects ----------------------------------

    SimpleNodeEditor* sneditor = simple_node_editor_init();
    sneditor->root_node = ctr_parent;  

    f4 target_z_rotation = empty_node->getRotation().Z; 
 

    p("---- Game loop start ----");

    f4         dt = 0.0f;
    const f4   maxDelta = 1.0f/60.0f * 5.0f; 
    const f4   tick_ms = 0.01666f;
    f4         render_dt = 0.0f;
    const f4   render_ms = 0.016667f;
    u4         time_physics_prev = btclock->getTimeMicroseconds();

    while(irrlicht->device->run() && game_state == GAME_STATE_PLAY)
    {
        const u4 time_physics_curr = btclock->getTimeMicroseconds();
        const f4 frameTime = ((f4)(time_physics_curr - time_physics_prev)) / 1000000.0; // todo: is this truncated correctly?
        time_physics_prev = time_physics_curr;
        f4 capped_dt = frameTime;
        if (capped_dt > maxDelta) { capped_dt = maxDelta; }

        render_dt += capped_dt;
        if ( render_dt >= render_ms )
        {
            render_dt = 0.0f;

            f4 curr_rotation = empty_node->getRotation().Z;
            if (curr_rotation != target_z_rotation)
            {
                weighted_average(curr_rotation,target_z_rotation, 20.0f);

                if (curr_rotation >= 360.0f) {
                    curr_rotation -= 360.0f;
                    target_z_rotation -= 360.0f;
                }
                else if (curr_rotation < 0) {
                    curr_rotation += 360.0f;
                    target_z_rotation += 360.0f;
                }

                empty_node->setRotation({0,0,curr_rotation});
            }

            if (sneditor->selected_node)
            {
                position2d<s32> screen_coord = irrlicht->colmgr->getScreenCoordinatesFrom3DPosition(sneditor->selected_node->getPosition(), camera);
                sneditor->hand_icon->setPosition({(screen_coord.X - (SCREEN_WIDTH/2)) / ortho_scale,
                                              (screen_coord.Y - (SCREEN_HEIGHT/2)) / -ortho_scale,0});
            } else {
                sneditor->hand_icon->setPosition({(sneditor->cursor->getPosition().X - (SCREEN_WIDTH/2)) / ortho_scale,
                                              (sneditor->cursor->getPosition().Y - (SCREEN_HEIGHT/2)) / -ortho_scale,0});
            } 
            
            // Render
            irrlicht->driver->beginScene(true, true, SColor(GREY_BLUE));
                irrlicht->smgr->drawAll();  
                irrlicht->driver->clearZBuffer();
                irrlicht->hud->drawAll();
            irrlicht->driver->endScene();
        }

        dt += capped_dt;
        while( dt >= tick_ms ) 
        {
            dt -= tick_ms;
            receiver->input();

            if (receiver->a.state)
                target_z_rotation -= 90.0f;
            if (receiver->d.state)
                target_z_rotation += 90.0f;

            simple_node_editor_update(
                sneditor, receiver->mouse.left.state, receiver->mouse.left.released, receiver->mouse.right.state,
                false, receiver->tab.state, camera, &node_cmpnt_map);

            // TODO: Change this to:
            // - only test what the user is holding
            // - and only if the user is holding the smaller inserting part.
            // example: holding a screw in a large box

            bloop(joint_list, i)
            {
                Joint* c = (Joint*)b_get_mem_address(joint_list,i);
                
                if (c->A->tree != sneditor->selected_tree && c->B->tree != sneditor->selected_tree )
                {
                    continue;
                }

                if (!c->is_connected)
                { 

                    vec3 A = c->A->node->getPosition();
                    vec3 B = c->B->node->getPosition();
                    A += c->posA;
                    B += c->posB;

                    if (A.distance(B) < 13 /* && receiver->spacebar*/)
                    { 
                        std::cout << "Comparing " << i << std::endl;
                        c->is_connected = true;
                        connect_joints(c,sneditor,camera,tree_list);
                    }
                }
            }

            bloop(tree_list, i)
            {
                CTree* tree = (CTree*)b_get_mem_address(tree_list,i);
                if (tree->translation == vec3(0,0,0))
                {
                    continue;
                }
                for (s4 k = 0; k < tree->child_list.length;k++)
                { 
                    Component* cmpnt = (Component*)b_get_value(tree->child_list,k); 
                    cmpnt->node->setPosition(cmpnt->node->getPosition() + tree->translation.irr());
                    cmpnt->shadow->setPosition(cmpnt->node->getPosition() * vector3df(1,1,0) + vector3df(0,0,10));
                }
                tree->translation = vec3(0,0,0);
            }

            if (receiver->restart.state) { game_state = GAME_STATE_RESET; }
            if (receiver->QUIT) { game_state = GAME_STATE_QUIT; }
        }
コード例 #5
0
//! OnAnimate() is called just before rendering the whole scene.
//! nodes may calculate or store animations here, and may do other useful things,
//! dependent on what they are.
void CSceneNodeAnimatorCameraMaya::animateNode(ISceneNode *node, u32 timeMs)
{
	//Alt + LM = Rotate around camera pivot
	//Alt + LM + MM = Dolly forth/back in view direction (speed % distance camera pivot - max distance to pivot)
	//Alt + MM = Move on camera plane (Screen center is about the mouse pointer, depending on move speed)

	if (node->getType() != ESNT_CAMERA)
		return;

	ICameraSceneNode* camera = static_cast<ICameraSceneNode*>(node);

	if (OldCamera != camera)
	{
		OldTarget = camera->getTarget();
		OldCamera = camera;
	}

	Target = camera->getTarget();

	const SViewFrustum* va = camera->getViewFrustum();

	f32 nRotX = RotX;
	f32 nRotY = RotY;
	f32 nZoom = CurrentZoom;

	if ( (isMouseKeyDown(0) && isMouseKeyDown(2)) || isMouseKeyDown(1) )
	{
		if (!Zooming)
		{
			ZoomStartX = MousePos.X;
			ZoomStartY = MousePos.Y;
			Zooming = true;
			nZoom = CurrentZoom;
		}
		else
		{
			f32 old = nZoom;
			nZoom += (ZoomStartX - MousePos.X) * ZoomSpeed;

			f32 targetMinDistance = 0.1f;
			if (nZoom < targetMinDistance) // jox: fixed bug: bounce back when zooming to close
				nZoom = targetMinDistance;

			if (nZoom < 0)
				nZoom = old;
		}
	}
	else
	{
		if (Zooming)
		{
			f32 old = CurrentZoom;
			CurrentZoom = CurrentZoom + (ZoomStartX - MousePos.X ) * ZoomSpeed;
			nZoom = CurrentZoom;

			if (nZoom < 0)
				nZoom = CurrentZoom = old;
		}

		Zooming = false;
	}

	// Translation ---------------------------------

	core::vector3df translate(OldTarget), UpVector(camera->getUpVector());

	core::vector3df tvectX = Pos - Target;
	tvectX = tvectX.crossProduct(UpVector);
	tvectX.normalize();

	core::vector3df tvectY = (va->getFarLeftDown() - va->getFarRightDown());
	tvectY = tvectY.crossProduct(UpVector.Y > 0 ? Pos - Target : Target - Pos);
	tvectY.normalize();
	

	if (isMouseKeyDown(2) && !Zooming)
	{
		if (!Translating)
		{
			TranslateStartX = MousePos.X;
			TranslateStartY = MousePos.Y;
			Translating = true;
		}
		else
		{
			translate +=  tvectX * (TranslateStartX - MousePos.X)*TranslateSpeed + 
			              tvectY * (TranslateStartY - MousePos.Y)*TranslateSpeed;
		}
	}
	else
	{
		if (Translating)
		{
			translate += tvectX * (TranslateStartX - MousePos.X)*TranslateSpeed + 
			             tvectY * (TranslateStartY - MousePos.Y)*TranslateSpeed;
			OldTarget = translate;
		}

		Translating = false;
	}

	// Rotation ------------------------------------

	if (isMouseKeyDown(0) && !Zooming)
	{
		if (!Rotating)
		{
			RotateStartX = MousePos.X;
			RotateStartY = MousePos.Y;
			Rotating = true;
			nRotX = RotX;
			nRotY = RotY;
		}
		else
		{
			nRotX += (RotateStartX - MousePos.X) * RotateSpeed;
			nRotY += (RotateStartY - MousePos.Y) * RotateSpeed;
		}
	}
	else
	{
		if (Rotating)
		{
			RotX = RotX + (RotateStartX - MousePos.X) * RotateSpeed;
			RotY = RotY + (RotateStartY - MousePos.Y) * RotateSpeed;
			nRotX = RotX;
			nRotY = RotY;
		}

		Rotating = false;
	}

	// Set Pos ------------------------------------

	Target = translate;

	Pos.X = nZoom + Target.X;
	Pos.Y = Target.Y;
	Pos.Z = Target.Z;

	Pos.rotateXYBy(nRotY, Target);
	Pos.rotateXZBy(-nRotX, Target);

	// Rotation Error ----------------------------

	// jox: fixed bug: jitter when rotating to the top and bottom of y
	UpVector.set(0,1,0);
	UpVector.rotateXYBy(-nRotY);
	UpVector.rotateXZBy(-nRotX+180.f);

	camera->setPosition(Pos);
	camera->setTarget(Target);
	camera->setUpVector(UpVector);
}
コード例 #6
0
//! OnAnimate() is called just before rendering the whole scene.
//! nodes may calculate or store animations here, and may do other useful things,
//! dependent on what they are.
void CSceneNodeAnimatorCameraMaya::animateNode(ISceneNode *node, u32 timeMs)
{
	//Alt + LM = Rotate around camera pivot
	//Alt + LM + MM = Dolly forth/back in view direction (speed % distance camera pivot - max distance to pivot)
	//Alt + MM = Move on camera plane (Screen center is about the mouse pointer, depending on move speed)

	if (!node || node->getType() != ESNT_CAMERA)
		return;

	ICameraSceneNode* camera = static_cast<ICameraSceneNode*>(node);

	// If the camera isn't the active camera, and receiving input, then don't process it.
	if(!camera->isInputReceiverEnabled())
		return;

	scene::ISceneManager * smgr = camera->getSceneManager();
	if(smgr && smgr->getActiveCamera() != camera)
		return;

	if (OldCamera != camera)
	{
		OldTarget = camera->getTarget();
		OldCamera = camera;
		LastCameraTarget = OldTarget;
	}
	else
	{
		OldTarget += camera->getTarget() - LastCameraTarget;
	}

	core::vector3df target = camera->getTarget();

	f32 nRotX = RotX;
	f32 nRotY = RotY;
	f32 nZoom = CurrentZoom;

	if ( (isMouseKeyDown(0) && isMouseKeyDown(2)) || isMouseKeyDown(1) )
	{
		if (!Zooming)
		{
			ZoomStart = MousePos;
			Zooming = true;
			nZoom = CurrentZoom;
		}
		else
		{
			const f32 targetMinDistance = 0.1f;
			nZoom += (ZoomStart.X - MousePos.X) * ZoomSpeed;

			if (nZoom < targetMinDistance) // jox: fixed bug: bounce back when zooming to close
				nZoom = targetMinDistance;
		}
	}
	else if (Zooming)
	{
		const f32 old = CurrentZoom;
		CurrentZoom = CurrentZoom + (ZoomStart.X - MousePos.X ) * ZoomSpeed;
		nZoom = CurrentZoom;

		if (nZoom < 0)
			nZoom = CurrentZoom = old;
		Zooming = false;
	}

	// Translation ---------------------------------

	core::vector3df translate(OldTarget), upVector(camera->getUpVector());

	core::vector3df tvectX = Pos - target;
	tvectX = tvectX.crossProduct(upVector);
	tvectX.normalize();

	const SViewFrustum* const va = camera->getViewFrustum();
	core::vector3df tvectY = (va->getFarLeftDown() - va->getFarRightDown());
	tvectY = tvectY.crossProduct(upVector.Y > 0 ? Pos - target : target - Pos);
	tvectY.normalize();

	if (isMouseKeyDown(2) && !Zooming)
	{
		if (!Translating)
		{
			TranslateStart = MousePos;
			Translating = true;
		}
		else
		{
			translate +=  tvectX * (TranslateStart.X - MousePos.X)*TranslateSpeed +
			              tvectY * (TranslateStart.Y - MousePos.Y)*TranslateSpeed;
		}
	}
	else if (Translating)
	{
		translate += tvectX * (TranslateStart.X - MousePos.X)*TranslateSpeed +
		             tvectY * (TranslateStart.Y - MousePos.Y)*TranslateSpeed;
		OldTarget = translate;
		Translating = false;
	}

	// Rotation ------------------------------------

	if (isMouseKeyDown(0) && !Zooming)
	{
		if (!Rotating)
		{
			RotateStart = MousePos;
			Rotating = true;
			nRotX = RotX;
			nRotY = RotY;
		}
		else
		{
			nRotX += (RotateStart.X - MousePos.X) * RotateSpeed;
			nRotY += (RotateStart.Y - MousePos.Y) * RotateSpeed;
		}
	}
	else if (Rotating)
	{
		RotX += (RotateStart.X - MousePos.X) * RotateSpeed;
		RotY += (RotateStart.Y - MousePos.Y) * RotateSpeed;
		nRotX = RotX;
		nRotY = RotY;
		Rotating = false;
	}

	// Set Pos ------------------------------------

	target = translate;

	Pos.X = nZoom + target.X;
	Pos.Y = target.Y;
	Pos.Z = target.Z;

	Pos.rotateXYBy(nRotY, target);
	Pos.rotateXZBy(-nRotX, target);

	// Rotation Error ----------------------------

	// jox: fixed bug: jitter when rotating to the top and bottom of y
	upVector.set(0,1,0);
	upVector.rotateXYBy(-nRotY);
	upVector.rotateXZBy(-nRotX+180.f);

	camera->setPosition(Pos);
	camera->setTarget(target);
	camera->setUpVector(upVector);
	LastCameraTarget = camera->getTarget();
}
コード例 #7
0
ファイル: main.cpp プロジェクト: Tezar/tunnel
int main()
{
	// create device
    EventHandler receiver;
	Init();
	Output();
	ISceneNode* objects [MAX_OBJECTS];



	 IrrlichtDevice *device = createDevice(EDT_OPENGL, dimension2d<u32>(ResX, ResY), 32, fullscreen, false, vsync, &receiver); 
	 
	 receiver.device = device; 

    if (!device)
        return 1;

    IVideoDriver* driver = device->getVideoDriver();
    ISceneManager* smgr = device->getSceneManager();
    IGUIEnvironment* guienv = device->getGUIEnvironment();

	HMDDescriptor HMD;
	// Parameters from the Oculus Rift DK1
	HMD.hResolution = ResX;
	HMD.vResolution = ResY;
	HMD.hScreenSize = 0.14976;
	HMD.vScreenSize = 0.0936;
	HMD.interpupillaryDistance = 0.064;
	HMD.lensSeparationDistance = 0.064;
	HMD.eyeToScreenDistance = 0.041;
	HMD.distortionK[0] = 1.0;
	HMD.distortionK[1] = 0.22;
	HMD.distortionK[2] = 0.24;
	HMD.distortionK[3] = 0.0;

	HMDStereoRender renderer(device, HMD, 10); 


	#ifdef OCCULUS
		ICameraSceneNode* camera = smgr->addCameraSceneNode();
		camera->bindTargetAndRotation(false);
		camera->setTarget(vector3df(1,0,0));
	#else	
		ICameraSceneNode* camera = smgr->addCameraSceneNodeFPS();
	#endif	

	
    device->getCursorControl()->setVisible(false); 


	// load a faerie 
	IAnimatedMesh* faerie = smgr->getMesh("media/faerie.md2");
	IAnimatedMeshSceneNode* faerieNode = smgr->addAnimatedMeshSceneNode(faerie);
	faerieNode->setMaterialTexture(0, driver->getTexture("media/faerie2.bmp"));
	faerieNode->setMaterialFlag(EMF_LIGHTING, false);
	faerieNode->setPosition(vector3df(40,190,-1030));
	faerieNode->setRotation(vector3df(0,-90,0));
	faerieNode->setMD2Animation(EMAT_SALUTE);

	// load a dwarf
	IAnimatedMesh* dwarf = smgr->getMesh("media/dwarf.x");
	IAnimatedMeshSceneNode* dwarfNode = smgr->addAnimatedMeshSceneNode(dwarf);
	dwarfNode->setPosition(vector3df(40,-25,20));
	  
	
	Level currentLevel(device);
	currentLevel.makeLevel(0);

	smgr->setAmbientLight(video::SColorf(0.1,0.1,0.1,1));
	ILightSceneNode* light1 = smgr->addLightSceneNode( camera , vector3df(0,0,0), video::SColorf(0.3f,0.4f,0.4f), 80.0f, 1 );


	vector3df pos = vector3df(0,0,0);

	//naplníme tunel pøekážkama

	 srand (time(NULL));
	/* generate secret number between 1 and 10: */
	
	for(int i = 0; i < MAX_OBJECTS; i++){
		objects[i] = smgr->addCubeSceneNode(2);
		objects[i]->setMaterialFlag(EMF_LIGHTING, false);
		objects[i]->setPosition( vector3df( (rand() % 30) - 5, (rand() % 30) - 5, rand() % 80) );
	}

	//device->setInputReceivingSceneManager(smgr);
	
	//použivane pro 
	vector3df tempRot; 
	irr::core::quaternion tempQ;
	irr::core::matrix4 tempM;

	float round = 0;

    while(device->run())
    {
		round += 0.01;
        driver->beginScene(true, true, SColor(255,100,101,140));
		
		for(int i = 0; i < MAX_OBJECTS; i++){
			vector3df tmpPos = objects[i]->getPosition();
			if(tmpPos.Z > pos.Z) continue;
			
			objects[i]->setPosition( vector3df( (rand() % 30) - 15, (rand() % 30) - 15, rand() % 80 + pos.Z) );
		}
		
	#ifndef OCCULUS
			tempM.setRotationDegrees(vector3df(sin(round*0.5)*360-180, sin(round)*360-180, cos(round*0.8)*360-180));
			
			// transform forward vector of camera
			irr::core::vector3df frv = irr::core::vector3df (0.0f, 0.0f, 1.0f);
			tempM.transformVect(frv);
    
			// transform upvector of camera
		    irr::core::vector3df upv = irr::core::vector3df (0.0f, 1.0f, 0.0f);
			tempM.transformVect(upv);

		    camera->setUpVector(upv); //set up vector of camera
			camera->setTarget(frv); //set target of camera (look at point) (thx Zeuss for correcting it)

	#endif

		
		if(pSensor){
			Quatf quaternion = FusionResult.GetOrientation();

		   ICameraSceneNode* camera = smgr->getActiveCamera();
   
		   tempQ.set(-quaternion.z,quaternion.y,-quaternion.x, quaternion.w);
		   tempQ.normalize();
		   tempQ.toEuler(tempRot);
    
		   
			tempM.setRotationDegrees(tempRot);

			// transform forward vector of camera
			irr::core::vector3df frv = irr::core::vector3df (0.0f, 0.0f, 1.0f);
			tempM.transformVect(frv);
    
			// transform upvector of camera
		    irr::core::vector3df upv = irr::core::vector3df (0.0f, 1.0f, 0.0f);
			tempM.transformVect(upv);

		    camera->setUpVector(upv); //set up vector of camera
			camera->setTarget(frv); //set target of camera (look at point) (thx Zeuss for correcting it)

			// update absolute position
			camera->updateAbsolutePosition();



			float yaw, pitch, roll;
			quaternion.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&yaw, &pitch, &roll);
			camera->getParent()->setRotation( vector3df(RadToDegree(pitch),RadToDegree(yaw),RadToDegree(roll)));
			//camera->setRotation( vector3df(RadToDegree(-pitch),RadToDegree(-yaw),RadToDegree(roll)));
			//camera->setProjectionMatrix(ToMatrix(quaternion));
			cout << " Yaw: " << RadToDegree(yaw) << 
				", Pitch: " << RadToDegree(pitch) << 
				", Roll: " << RadToDegree(roll) << endl;
		
			if (_kbhit()) exit(0);
		}

		#ifdef OCCULUS
			renderer.drawAll(smgr); 
		#else
			smgr->drawAll();
		#endif

        guienv->drawAll();

        driver->endScene();
    }


    device->drop();
	Clear();
    return 0;
}