コード例 #1
0
void Editor::LoadScene()
{
	IVideoDriver *driver = device->getVideoDriver();
	ISceneManager *smgr = device->getSceneManager();

	// Calculate Projection Matrix
	matrix4 projMat;
	irr::f32 orth_w = (float)(driver->getScreenSize().Width - 256) / (float)driver->getScreenSize().Height;
	orth_w = 3 * orth_w;
	projMat.buildProjectionMatrixOrthoLH(orth_w, 3, 1, 100);

	// Create target
	target = smgr->addEmptySceneNode(0, 200);
	target->setPosition(vector3df(0, 0, 0));

	// Add rotational camera
	pivot = smgr->addEmptySceneNode(target, 199);
	camera[0] = smgr->addCameraSceneNode(NULL, vector3df(0, 0, -2), vector3df(0, 0, 0));
	camera[0]->setParent(pivot);
	pivot->setRotation(vector3df(25, -45, 0));

	// Add Topdown camera
	camera[1] = smgr->addCameraSceneNode(target, vector3df(0, 2, -0.01), vector3df(0, 0, 0));
	camera[1]->setProjectionMatrix(projMat, true);

	// Add front camera
	camera[2] = smgr->addCameraSceneNode(target, vector3df(0, 0, -5), vector3df(0, 0, 0));
	camera[2]->setProjectionMatrix(projMat, true);

	// Add side camera
	camera[3] = smgr->addCameraSceneNode(target, vector3df(5, 0, 0), vector3df(0, 0, 0));
	camera[3]->setProjectionMatrix(projMat, true);

	// Add Light
	ILightSceneNode* light = smgr->addLightSceneNode(target, vector3df(25, 50, 0));
	light->setLightType(ELT_POINT);
	light->setRadius(2000);

	// Add Plane
	IMeshSceneNode* plane = smgr->addCubeSceneNode(1, 0, -1,
			vector3df(0.5, -5.5, 0.5), vector3df(0, 0, 0),
			vector3df(10, 10, 10));
	plane->setMaterialTexture(0, driver->getTexture("media/texture_terrain.png"));
	plane->setMaterialFlag(video::EMF_BILINEAR_FILTER, false);
	plane->getMaterial(0).getTextureMatrix(0).setTextureScale(10, 10);

	// Add sky box
	scene::IMeshSceneNode* skybox = smgr->addCubeSceneNode(50);
	skybox->setMaterialTexture(0, driver->getTexture("media/sky.jpg"));
	skybox->setMaterialFlag(video::EMF_BILINEAR_FILTER, false);
	skybox->setMaterialFlag(video::EMF_LIGHTING, false);
	smgr->getMeshManipulator()->flipSurfaces(skybox->getMesh());
	state->plane_tri = smgr->createOctreeTriangleSelector(skybox->getMesh(), skybox);
}
コード例 #2
0
ファイル: Editor.cpp プロジェクト: asl97/NodeBoxEditor
void Editor::LoadScene()
{
	IVideoDriver *driver = device->getVideoDriver();
	ISceneManager *smgr = device->getSceneManager();

	// Create target
	target = smgr->addEmptySceneNode(0, 200);
	target->setPosition(vector3df(0, 0, 0));

	// Create cameras
	pivot = smgr->addEmptySceneNode(target, 199);
	pivot->setRotation(vector3df(25, -45, 0));
	recreateCameras();

	// Add Light
	ILightSceneNode* light = smgr->addLightSceneNode(target, vector3df(25, 50, 0));
	light->setLightType(ELT_POINT);
	light->setRadius(2000);

	// Add Plane
	plane = smgr->addCubeSceneNode(1, 0, -1,
			vector3df(0.5, -5.5, 0.5), vector3df(0, 0, 0),
			vector3df(10, 10, 10));
	plane->setMaterialTexture(0, driver->getTexture("media/texture_terrain.png"));
	plane->setMaterialFlag(video::EMF_BILINEAR_FILTER, false);
	plane->setMaterialFlag(video::EMF_LIGHTING, false);
	plane->setMaterialFlag(video::EMF_BACK_FACE_CULLING, true);
	plane->getMaterial(0).getTextureMatrix(0).setTextureScale(10, 10);

	// Add sky box
	scene::IMeshSceneNode* skybox = smgr->addCubeSceneNode(50);
	skybox->setMaterialTexture(0, driver->getTexture("media/sky.jpg"));
	skybox->setMaterialFlag(video::EMF_BILINEAR_FILTER, false);
	skybox->setMaterialFlag(video::EMF_LIGHTING, false);
	smgr->getMeshManipulator()->flipSurfaces(skybox->getMesh());
	state->plane_tri = smgr->createOctreeTriangleSelector(skybox->getMesh(), skybox);
}
コード例 #3
0
// init
// run when init object
void CObjectCollisionComponent::initComponent()
{
#ifdef GSGAMEPLAY

	IMesh *pMesh = NULL;
	ISceneNode		*node	= m_gameObject->getSceneNode();
	ISceneManager	*smgr	= getIView()->getSceneMgr();

	if ( node == NULL )
		return;	

	std::vector<SObjectCollisionParam>	listMesh;
	SObjectCollisionParam temp;

	if ( m_gameObject->getComponent( IObjectComponent::StaticMesh ) != NULL )
	{
		pMesh = ((IMeshSceneNode*) node)->getMesh();
		
		temp.mesh = pMesh;
		temp.node = node;
		listMesh.push_back( temp );
	}
	else if ( m_gameObject->getComponent( IObjectComponent::AnimMesh ) != NULL )
	{
		pMesh = ((IAnimatedMeshSceneNode*) node)->getMesh();
		
		temp.mesh = pMesh;
		temp.node = node;
		listMesh.push_back( temp );
	}
	else if ( m_gameObject->getComponent( IObjectComponent::ColladaMesh ) != NULL )
	{
		CColladaMeshComponent *comp = (CColladaMeshComponent*)m_gameObject->getComponent( IObjectComponent::ColladaMesh );		
		ISceneNode* colladaNode = comp->getColladaNode();

		std::queue<ISceneNode*>	listSceneNode;
		const core::list<ISceneNode*>* listChild = &colladaNode->getChildren();
		core::list<ISceneNode*>::ConstIterator it = listChild->begin(), end = listChild->end();
		while ( it != end )
		{
			listSceneNode.push( (*it) );
			it++;
		}

		while ( listSceneNode.size() )
		{
			CGameColladaSceneNode* sceneNode = (CGameColladaSceneNode*)listSceneNode.front();
			listSceneNode.pop();

			if ( sceneNode->getMesh() )
			{
				temp.mesh = sceneNode->getMesh();				
				temp.node = sceneNode;

				listMesh.push_back( temp );
			}

			const core::list<ISceneNode*>* listChild = &sceneNode->getChildren();
			it = listChild->begin();
			end = listChild->end();
			while ( it != end )
			{
				listSceneNode.push( (*it) );
				it++;
			}
		}		
	}

	for ( int i = 0; i < (int)listMesh.size(); i++ )
	{
		node = listMesh[i].node;
		pMesh = listMesh[i].mesh;

		switch ( m_collisionType )
		{
		case CObjectCollisionComponent::BoudingBox:
			{
				ITriangleSelector *selector = smgr->createTriangleSelectorFromBoundingBox(node);
				node->setTriangleSelector( selector );
				selector->drop();
			}
			break;
		case CObjectCollisionComponent::Triangle:
			{
				ITriangleSelector* selector = smgr->createTriangleSelector( pMesh, node );
				node->setTriangleSelector(selector);
				selector->drop();
			}
			break;
		case CObjectCollisionComponent::OctreeTriange:
			{
				ITriangleSelector* selector = smgr->createOctreeTriangleSelector( pMesh, node );
				node->setTriangleSelector(selector);
				selector->drop();
			}
			break;
		}
	}

#endif
}
コード例 #4
0
ファイル: main.cpp プロジェクト: OmniPlatGames/Seas-of-Gold
int main()
{
	Input input;
	IrrlichtDevice *device = createDevice(video::EDT_DIRECT3D9, dimension2d<u32>(800, 600), 16, false, true, false, &input);
	device->setWindowCaption(L"Seas of Gold");
	IVideoDriver* driver = device->getVideoDriver();
	ISceneManager* smgr = device->getSceneManager();
	IGUIEnvironment* guienv = device->getGUIEnvironment();
	E_DRIVER_TYPE driverType = driverChoiceConsole();
	EffectHandler *effect = new EffectHandler(device, driver->getScreenSize(), false, true);
	E_FILTER_TYPE filterType = (E_FILTER_TYPE)core::clamp<u32>((u32)3 - '1', 0, 4);
	MapID currentMap;
	int skyR = 30, skyG = 30, skyB = 70;
	int timer = 0;
	SColor sky = SColor(255, skyR, skyG, skyB);
	float plPos_x = 0.0f, plPos_y = 0.0f, plPos_z = 0.0f;
	bool updateCam = true;
	bool menu1 = false;
	int state = Main;
	int frameCount = 0;
	LoadMap loadMap;
	Player player;
	Interface playerInterface(driver);
	ITriangleSelector* selector = 0;
	ISceneNodeAnimator* anim = 0;
	Vendor southVendor;
	Vendor eastVendor;
	Vendor northVendor;
	//InitializeVendors(northVendor, southVendor, eastVendor, itemD);

	//ItemDatabase* itemD = new ItemDatabase;
	ItemDatabase itemD;
	itemD.Initialize();

	//initialize player's inventory
	player.AddGold(1000);
	player.getInventory()->addItem(itemD.getItem(bronzeOre), 50);
	player.getInventory()->addItem(itemD.getItem(ironOre), 50);
	player.getInventory()->addItem(itemD.getItem(goldOre), 50);

	//initialize south vendor's inventory
	southVendor.getInventory()->addItem(itemD.getItem(bronzeOre), 100);
	southVendor.getInventory()->addItem(itemD.getItem(coalOre), 100);
	southVendor.getInventory()->addItem(itemD.getItem(supplies), 1000);

	//initialize north vendor's inventory
	northVendor.getInventory()->addItem(itemD.getItem(obsidianOre), 50);
	northVendor.getInventory()->addItem(itemD.getItem(supplies), 1000);

	//initialize south vendor's inventory
	eastVendor.getInventory()->addItem(itemD.getItem(goldOre), 100);
	eastVendor.getInventory()->addItem(itemD.getItem(ironOre), 100);
	eastVendor.getInventory()->addItem(itemD.getItem(supplies), 1000);

	//Item item(0, "bronzeOre", "Sprites/ore_Bronze.png");
	//Item item2 = item;
	//Item* item2 = itemD.getItem(3);
	//inventory.addItem(&item, 2);
	//inventory.addItem(&item, 2);
	//inventory.addItem(item2, 2);

	//int test = 0;

	// Load the map scene
	//loadMap.Load(smgr, device, Map_Africa);
	//loadMap.Load(smgr, device, Map_India);
	//loadMap.Load(smgr, device, selector, plyrNode, anim, Map_England);

	IAnimatedMeshSceneNode* plyrNode = player.loadPlayerNode(device, smgr);
	//plyrNode->setDebugDataVisible((scene::E_DEBUG_SCENE_TYPE)(plyrNode->isDebugDataVisible() ^ scene::EDS_BBOX));

	ICameraSceneNode* camera = smgr->addCameraSceneNode(0, plyrNode->getPosition() + vector3df(0, 2, 2), vector3df(0, 0, 100));

	loadMap.Load(smgr, device, selector, plyrNode, anim, driver, Map_Africa);
	currentMap = Map_Africa;
	//loadMap.setCollisions(smgr, selector, plyrNode, anim);

	if (loadMap.CollNode)
	{
		selector = smgr->createOctreeTriangleSelector(loadMap.CollNode->getMesh(), loadMap.CollNode, 32);
		for (int i = 0; i < loadMap.CollNode->getMaterialCount(); i++)
		{
			loadMap.CollNode->getMaterial(i).NormalizeNormals = true;
		}
		loadMap.CollNode->setTriangleSelector(selector);
	}

	if (selector)
	{
		anim = smgr->createCollisionResponseAnimator(selector, plyrNode, vector3df(0.6f, 0.75f, 0.4f), core::vector3df(0.0f, -0.05f, 0.0f),
			core::vector3df(0.0f, -0.725f, 0.0f));

		plyrNode->addAnimator(anim);
	}

	ISceneCollisionManager* collMan = smgr->getSceneCollisionManager();

	////////////// The Sun ////////////
	ILightSceneNode *sun_node;
	SLight sun_data;
	ISceneNode *sun_billboard;
	float sun_angle = 0;
	video::SColorf Diffuse_Night = video::SColorf(0.0f, 0.0f, 0.0f, 1.0f);
	video::SColorf Diffuse_Day = video::SColorf(1.0f, 1.0f, 1.0f, 1.0f);

	sun_node = smgr->addLightSceneNode();
	sun_data.Direction = vector3df(0, 0, 0);
	sun_data.Type = video::ELT_DIRECTIONAL;
	sun_data.AmbientColor = video::SColorf(0.1f, 0.1f, 0.1f, 1);
	sun_data.SpecularColor = video::SColorf(0, 0, 0, 0);
	sun_data.DiffuseColor = Diffuse_Day;
	sun_data.CastShadows = true;
	sun_node->setLightData(sun_data);
	sun_node->setPosition(vector3df(0, 0, 0));
	sun_node->setRotation(vector3df(0, 0, 0));

	sun_billboard = smgr->addBillboardSceneNode(sun_node, core::dimension2d<f32>(60, 60));
	if (sun_billboard)
	{
		sun_billboard->setPosition(vector3df(0, 0, -100));
		sun_billboard->setMaterialFlag(video::EMF_LIGHTING, false);
		sun_billboard->setMaterialFlag(video::EMF_ZWRITE_ENABLE, false);
		sun_billboard->setMaterialType(video::EMT_TRANSPARENT_ADD_COLOR);
		sun_billboard->setMaterialTexture(0, driver->getTexture("Assets/particlewhite.bmp"));
	}
	/////////// End ////////////

	//------- candleLight -----//
	ILightSceneNode *candleLight = smgr->addLightSceneNode();
	SLight candleLight_data;

	candleLight_data.Type = video::ELT_POINT;
	candleLight_data.DiffuseColor = SColorf(1.0f, 0.546f, 0.016f, 1.0f);
	candleLight_data.SpecularColor = video::SColorf(0, 0, 0, 0);
	candleLight->setPosition(vector3df(2.43467f, 1.55795f, -3.94657));
	candleLight_data.Radius = 1.5f;
	candleLight->setLightData(candleLight_data);
	//------- end -----//

	//// Make the player
	//player.AddGold(1000);
	//player.SetCurrentPort(eMapDest::South);
	//Item* itemCi = new Item("Iron Ore", 1);
	//player.getItems()->addItem(itemCi);
	//Item* itemCb = new Item("Bronze Ore", 1);
	//player.getItems()->addItem(itemCb);

	//Vendor vN;
	//Item* itemG = new Item("Gold Ore", 1000);
	//vN.getItems()->addItem(itemG);
	//Vendor vS;
	//Item* itemI = new Item("Iron Ore", 1000);
	//vS.getItems()->addItem(itemI);
	//Vendor vE;
	//Item* itemB = new Item("Bronze Ore", 1000);
	//vE.getItems()->addItem(itemB);
	//Vendor northVendor

	//delete &itemD;

	int test99 = 0;


	// Make the menus
	MainMenu mainMenu(device, driver);

	MapMenu mapMenu(device, driver);
	mapMenu.SetPlayer(&player);

	TradeMenu tradeMenu;
	tradeMenu.Initialize(device, driver, &player, &southVendor);
	//TradeMenu tradeMenu(device, driver);
	//tradeMenu.SetPlayer(&player);
	//tradeMenu.SetVendor(&vS);
	//
	CraftingMenu craftMenu(device, driver, &player, itemD);
	//craftMenu.SetPlayer(&player);

	//////////////////////////////////////////////////////////////////////////
	// Initialize timer to compute elapsed time between frames
	//////////////////////////////////////////////////////////////////////////
	__int64 cntsPerSec = 0;
	QueryPerformanceFrequency((LARGE_INTEGER*)&cntsPerSec);
	float secsPerCnt = 1.0f / (float)cntsPerSec;

	__int64 prevTimeStamp = 0;
	QueryPerformanceCounter((LARGE_INTEGER*)&prevTimeStamp);

	while (device->run())
	{
		//for scaling animation by time, not by frame
		__int64 currTimeStamp = 0;
		QueryPerformanceCounter((LARGE_INTEGER*)&currTimeStamp);
		float dt = (currTimeStamp - prevTimeStamp) * secsPerCnt;

		sun_node->setRotation(vector3df(sun_angle, 0.0f, 0.0f));
		sun_angle += dt;
		frameCount += 1;
		if ((sun_angle > 0 && sun_angle < 109) || (sun_angle>350))
		{
			timer++;
			if (timer > 10)
			{
				if (skyR < 100) skyR += 1;
				if (skyG < 100) skyG += 1;
				if (skyB < 140) skyB += 1;
				timer = 0;
			}
		}
		if (sun_angle > 170 && sun_angle < 330)
		{
			timer++;
			if (timer > 10)
			{
				if (skyR > 0) skyR -= 1;
				if (skyG > 0) skyG -= 1;
				if (skyB > 40) skyB -= 1;
				timer = 0;
			}
		}

		player.updatePlayer(plyrNode, dt, collMan, selector);
		playerInterface.update(plyrNode, loadMap, driver, device, input, updateCam, state);

		switch (state)
		{
		case Map:
		{
			int out = mapMenu.Update(&input, frameCount);

			switch (out)
			{
			case eMapDest::Exit:
			{
				state = None;
				break;
			}
			case eMapDest::East:
			{
				state = None;
				//Item* itemB = new Item("Bronze Ore", 1000);
				//vE.getItems()->addItem(itemB);
				tradeMenu.SetVendor(&eastVendor);
				loadMap.Load(smgr, device, selector, plyrNode, anim, driver, Map_India);
				currentMap = Map_India;
				if (loadMap.CollNode)
				{
					selector = smgr->createOctreeTriangleSelector(loadMap.CollNode->getMesh(), loadMap.CollNode, 32);

					for (int i = 0; i < loadMap.CollNode->getMaterialCount(); i++)
					{
						loadMap.CollNode->getMaterial(i).NormalizeNormals = true;
					}
					loadMap.CollNode->setTriangleSelector(selector);
				}

				if (selector)
				{
					anim = smgr->createCollisionResponseAnimator(selector, plyrNode, vector3df(0.6f, 0.75f, 0.4f), core::vector3df(0.0f, -0.05f, 0.0f),
						core::vector3df(0.0f, -0.725f, 0.0f));
					plyrNode->addAnimator(anim);
				}
				collMan = smgr->getSceneCollisionManager();
				break;
			}
			case eMapDest::North:
			{
				state = None;
				//Item *itemG = new Item("Gold Ore", 1000);
				//vN.getItems()->addItem(itemG);
				//tradeMenu.SetVendor(&vN);
				tradeMenu.SetVendor(&northVendor);
				loadMap.Load(smgr, device, selector, plyrNode, anim, driver, Map_England);
				currentMap = Map_England;
				if (loadMap.CollNode)
				{
					selector = smgr->createOctreeTriangleSelector(loadMap.CollNode->getMesh(), loadMap.CollNode, 32);

					for (int i = 0; i < loadMap.CollNode->getMaterialCount(); i++)
					{
						loadMap.CollNode->getMaterial(i).NormalizeNormals = true;
					}
					loadMap.CollNode->setTriangleSelector(selector);
				}

				if (selector)
				{
					anim = smgr->createCollisionResponseAnimator(selector, plyrNode, vector3df(0.6f, 0.75f, 0.4f), core::vector3df(0.0f, -0.05f, 0.0f),
						core::vector3df(0.0f, -0.725f, 0.0f));
					plyrNode->addAnimator(anim);
				}
				collMan = smgr->getSceneCollisionManager();
				break;
			}
			case eMapDest::South:
			{
				state = None;
				//Item *itemI = new Item("Iron Ore", 1000);
				//vS.getItems()->addItem(itemI);
				//tradeMenu.SetVendor(&vS);
				tradeMenu.SetVendor(&southVendor);
				loadMap.Load(smgr, device, selector, plyrNode, anim, driver, Map_Africa);
				currentMap = Map_Africa;
				if (loadMap.CollNode)
				{
					selector = smgr->createOctreeTriangleSelector(loadMap.CollNode->getMesh(), loadMap.CollNode, 32);

					for (int i = 0; i < loadMap.CollNode->getMaterialCount(); i++)
					{
						loadMap.CollNode->getMaterial(i).NormalizeNormals = true;
					}
					loadMap.CollNode->setTriangleSelector(selector);
				}

				if (selector)
				{
					anim = smgr->createCollisionResponseAnimator(selector, plyrNode, vector3df(0.6f, 0.75f, 0.4f), core::vector3df(0.0f, -0.05f, 0.0f),
						core::vector3df(0.0f, -0.725f, 0.0f));
					plyrNode->addAnimator(anim);
				}
				collMan = smgr->getSceneCollisionManager();
				break;
			}
			default:
				break;
			}

			break;
		}
		case Trade:
		{

			bool out = false;
			out = tradeMenu.Update(&input, frameCount, device, currentMap);
			if (out)
				state = None;
			break;
		}
		case Main:
		{
			int out = mainMenu.Update(&input, frameCount);

			switch (out)
			{
			case MSstart:
			{
				state = None;
				break;
			}
			case MSexit:
			{
				device->closeDevice();
				//return 0;
				break;
			}
			default:
				break;
			}

			break;
		}
		case Craft:
		{
			bool out = craftMenu.Update(&input, frameCount, device);
			if (out)
				state = None;
			break;
		}
		default:
			// Do nothing
			break;
		}

		if (updateCam) moveCameraControl(plyrNode, device, camera);

		////////////////////////////////////////////////////////

		if (sun_angle > 360) sun_angle = 0;
		if (sun_angle < 180) sun_data.DiffuseColor = Diffuse_Day; else sun_data.DiffuseColor = Diffuse_Night;
		sun_node->setLightData(sun_data);

		sky.setRed(skyR);
		sky.setGreen(skyG);
		sky.setBlue(skyB);
		driver->beginScene(true, true, sky);

		smgr->drawAll();

		playerInterface.render(driver, state);

		// Draw the menu
		switch (state)
		{
		case Map:
		{
			mapMenu.Draw(driver, device);
			break;
		}
		case Trade:
		{
			tradeMenu.Render(driver, device);
			break;
		}
		case Main:
		{
			mainMenu.Draw(driver);
			break;
		}
		case Craft:
		{
			craftMenu.Draw(driver);
			break;
		}
		default:
			// Do nothing
			break;
		}

		driver->endScene();
		
		// Update the prev time stamp to current
		prevTimeStamp = currTimeStamp;

	}

	device->drop();

	return 0;
}
コード例 #5
0
int main()
{
    const int nRobots = 2;
    //given robot numbers will be controlled by humans
    vector<int> humanBrainIds; 
    //humanBrainIds.push_back(1);
    //humanBrainIds.push_back(0);

//-- device ------------------------------------------------------------//

    IrrlichtDevice* device;

    device = createDevice(
        EDT_OPENGL, //driverType
        windowSize,
        16,  //bits
        false,
        false, //stencilbuffer
        false, //vsync
        NULL //receiver
    );
    //advanced device params
        //SIrrlichtCreationParameters params;
        //params.DeviceType = EIDT_CONSOLE;
        //params.DriverType = EDT_OPENGL;
        //params.WindowSize = windowSize;
        //device = createDeviceEx(params);

    if (device == 0)
        return EXIT_FAILURE; // could not create selected driver.

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

//-- lights ------------------------------------------------------------//

    //ambient light
    //smgr->setAmbientLight( SColorf(1.0f,1.0f,1.0f,1.0f) );
        //smgr->setAmbientLight( SColorf(.3f,.3f,.3f,1.0f) );

    //diffusive light
        SLight light_data;
        light_data.AmbientColor = SColorf(.3,.3,.3);
        //light_data.Attenuation = vector3df(.3,.3,.3); //Attenuation cte, linear quadratic TODO ??
        light_data.DiffuseColor = SColorf(.0,.0,.0);
        light_data.SpecularColor = SColorf(.0,.0,.0);
        light_data.CastShadows = true;
        light_data.Radius = 100.0f;
        light_data.Type = ELT_DIRECTIONAL;
            //ELT_POINT 	point light, it has a position in space and radiates light in all directions
            //ELT_SPOT    spot light, it has a position in space, a direction, and a limited cone of influence
            //ELT_DIRECTIONAL 	directional light, coming from a direction from an infinite distance 
            
        ILightSceneNode* light = smgr->addLightSceneNode(0, core::vector3df(.5f,.0f,.5f));
        light->setLightData(light_data);

//-- objects ------------------------------------------------------------//

    IMesh* mesh;
    ISceneNode * node;
    float HEIGHT=1000.f, WIDTH=1.f;
    //height between center/sky == height bottom/center
    //large so that scene looks 2d on interactive test mode.
    //on automatic mode, only middle pixel row is taken, so this does not matter

    //outter boundary
        
        //square
            node = smgr->addCubeSceneNode(
                2.f*WIDTH,  // width
                0,      // parent
                -1,     // id
                vector3df(0, 0, 0),               // center
                vector3df(0, 0, 0),               // rotation
                vector3df(1.0f, HEIGHT, 1.0f)*-1.f    // scale. *-1 turns it inside out. to use both faces make two cubes.
            );

        //circle
            //mesh = smgr->getGeometryCreator()->createCylinderMesh(
                //1.f,    //radius
                //1.,     //length
                //50,     //tesselation
                //SColor(0,0,0,255),     //color
                //false,                 //closeTop
                //0.f                    //oblique
            //);
            //node = smgr->addMeshSceneNode(
                //mesh,
                //0,     //ISceneNode * parent
                //-1,    //s32 id
                //vector3df(0, -HEIGHT, 0),            //const core::vector3df & position
                //vector3df(0, 0, 0),                     //const core::vector3df & rotation
                //vector3df(1.0f, 2.f*HEIGHT, 1.0f)      //const core::vector3df & scale
            //);

        node->getMaterial(0).AmbientColor.set(0,0,0,0);
        node->getMaterial(0).DiffuseColor.set(0,0,0,0);
        //node->getMaterial(0).SpecularColor.set(255,255,255,255);
        //node->getMaterial(0).Shininess = 20.0f;
        //node->getMaterial(0).EmissiveColor.set(0,0,0,0);
        //node->setMaterialFlag(EMF_WIREFRAME,true); //wireframe only

    //left cube
        node = smgr->addCubeSceneNode(
            0.2,    // width
            0,      // parent
            -1,     // id
            vector3df(-.3, 0, 0),       // center
            vector3df(0, 0, 0),           // rotation
            vector3df(1.0f, HEIGHT, 1.0f)   // scale
        );
        node->getMaterial(0).AmbientColor.set(0,255,0,0);
        node->getMaterial(0).DiffuseColor.set(0,255,0,0);

    //right cube
        node = smgr->addCubeSceneNode(
            .2f,    // width
            0,      // parent
            -1,     // id
            vector3df(.3, 0, 0),        // center
            vector3df(0, 0, 0),           // rotation
            vector3df(1.0f, HEIGHT, 1.0f)   // scale
        );
        node->getMaterial(0).AmbientColor.set(0,0,255,0);
        node->getMaterial(0).DiffuseColor.set(0,0,255,0);

    //cylinder
        //mesh = smgr->getGeometryCreator()->createCylinderMesh(
            //.1f,    //radius
            //1.,     //length
            //50,     //tesselation
            //SColor(),              //color
            //false,                 //closeTop
            //0.f                    //oblique
        //);
        //node = smgr->addMeshSceneNode(
            //mesh,
            //0,     //ISceneNode * parent
            //-1,    //s32 id
            //vector3df(0, -HEIGHT, 0),            //const core::vector3df & position
            //vector3df(0, 0, 0),                  //const core::vector3df & rotation
            //vector3df(1.0f, 2.*HEIGHT, 1.0f)     //const core::vector3df & scale
        //);
        //node->getMaterial(0).AmbientColor.set(0,0,0,255);
        //node->getMaterial(0).DiffuseColor.set(0,0,0,255);

    //sphere
        //node = smgr->addSphereSceneNode(
            //0.1,     // radius
            //50,     // poly count
            //0,      // parent
            //FruitID,     // id
            //vector3df(0, 0, 0),         // center
            //vector3df(0, 0, 0),           // rotation
            //vector3df(1.0f, 1.0f, 1.0f)   // scale
        //);
        //node->getMaterial(0).AmbientColor.set(0,0,0,255);
        //node->getMaterial(0).DiffuseColor.set(0,0,0,255);
        //node->getMaterial(0).Lighting = true;

//-- collision ------------------------------------------------------------//

    /* Put everything we want to do collision checking with inside the meta selector. */
    IMetaTriangleSelector * meta = smgr->createMetaTriangleSelector();
    array<ISceneNode *> nodes;
    smgr->getSceneNodesFromType(ESNT_ANY, nodes); // Find all nodes

    for (u32 i=0; i < nodes.size(); ++i)
    {
        ISceneNode * node = nodes[i];
        ITriangleSelector * selector = 0;

        switch(node->getType())
        {
            case ESNT_CUBE:
            case ESNT_ANIMATED_MESH:
            // Because the selector won't animate with the mesh,
            // and is only being used for camera collision, we'll just use an approximate
            // bounding box instead of ((IAnimatedMeshSceneNode*)node)->getMesh(0)
            selector = smgr->createTriangleSelectorFromBoundingBox(node);
            break;

            case ESNT_MESH:
            case ESNT_SPHERE: // Derived from IMeshSceneNode
            selector = smgr->createTriangleSelector(((IMeshSceneNode*)node)->getMesh(), node);
            break;

            case ESNT_TERRAIN:
            selector = smgr->createTerrainTriangleSelector((ITerrainSceneNode*)node);
            break;

            case ESNT_OCTREE:
            selector = smgr->createOctreeTriangleSelector(((IMeshSceneNode*)node)->getMesh(), node);
            break;

            default:
            // Don't create a selector for this node type
            break;
        }

        if(selector)
        {
            // Add it to the meta selector, which will take a reference to it
            meta->addTriangleSelector(selector);
            // And drop my reference to it, so that the meta selector owns it.
            selector->drop();
        }
    }

//-- robots ------------------------------------------------------------//

    //create robots
    Fly2D::Brain* brains[nRobots];


    //all to a default type
    //for ( int i=0; i<nRobots; i++ )
    //{
        //brains[i] = new Fly2D::BrainForward;
        ////brains[i] = new Fly2D::BrainCircle();
    //}

    brains[0] = new Fly2D::BrainForward;
    brains[1] = new Fly2D::BrainForward;

    //decide human control
        vector<Fly2D::BrainHuman*> hBrains;
        for (
            vector<int>::iterator i = humanBrainIds.begin();
            i != humanBrainIds.end();
            ++i
        )
        {
            if ( *i > nRobots )
            {
                cerr << "no such robot: " << *i << endl;
                exit(EXIT_FAILURE);
            }
            delete brains[*i];
            Fly2D::BrainHuman* hBrain = new Fly2D::BrainHuman;
            brains[*i] = hBrain;
            hBrains.push_back(hBrain);
        }
        Fly2D::ReceiverHuman hReceiver = Fly2D::ReceiverHuman( hBrains );
        device->setEventReceiver( &hReceiver );

    Robot* robots[nRobots];
    robots[0] = new Fly2D::Robot( *device, *meta, *brains[0], vector3df(0,0,-0.5f), vector3df(0,0, 0.5f),  0.01 );
    robots[1] = new Fly2D::Robot( *device, *meta, *brains[1], vector3df(0,0,0.5f),  vector3df(0,0, -0.5f), 0.01 );

    meta->drop(); // As soon as we're done with the selector, drop it.

//-- run ------------------------------------------------------------//
    //TEST
    vector3df oldpos, oldtarget;
    //END TEST
    
    int nFrames = 0;
    ITimer* timer = device->getTimer();
    int t0 = timer->getTime();
    int w = driver->getScreenSize().Width;
    int h = driver->getScreenSize().Height;
    int dh = h/nRobots;
    int observeRobot = 0;

	while(device->run())
	{
        //if (device->isWindowActive()) //only work if window has focus.

        //draw

        driver->setViewPort(rect<s32>(0,0,w,h));
        driver->beginScene(true,true,0);
        for(int i=0; i<nRobots; i++)
        {
            driver->setViewPort(rect<s32>(0,dh*i,w,dh*(i+1)));
            //only part of window gets drawn into

            smgr->setActiveCamera(robots[i]->camera);

            smgr->drawAll(); 
            //draws on window scene of active camera
 
            robots[i]->update();
        }
        driver->endScene();

        //TEST
        //if
        //(
            //robots[observeRobot].getPosition() != oldpos
            //|| robots[observeRobot].getTarget() != oldtarget
        //)
        //oldpos = robots[observeRobot].getPosition();
        //oldtarget = robots[observeRobot].getTarget();

        cout << robots[observeRobot]->str();

        //FPS info
            //cout << "frame no:" << endl << nFrames << endl;;
            //cout << "average fps:" << endl << 1000*nFrames/(float)(timer->getTime()-t0) << endl;
            //nFrames++;
            cout << "fps:" << endl << driver->getFPS() << endl;
        //END TEST
	}
	device->drop();
	return 0;
}