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examples/07.Collision/Collision.cbp Normal file
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examples/07.Collision/Collision.vcproj Normal file
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Name="VCXDCMakeTool"
/>
<Tool
Name="VCBscMakeTool"
/>
<Tool
Name="VCFxCopTool"
/>
<Tool
Name="VCAppVerifierTool"
/>
<Tool
Name="VCPostBuildEventTool"
/>
</Configuration>
</Configurations>
<References>
</References>
<Files>
<File
RelativePath="main.cpp"
>
<FileConfiguration
Name="Debug|Win32"
>
<Tool
Name="VCCLCompilerTool"
Optimization="0"
AdditionalIncludeDirectories=""
PreprocessorDefinitions=""
BasicRuntimeChecks="3"
/>
</FileConfiguration>
<FileConfiguration
Name="Release|Win32"
>
<Tool
Name="VCCLCompilerTool"
Optimization="2"
AdditionalIncludeDirectories=""
PreprocessorDefinitions=""
/>
</FileConfiguration>
</File>
</Files>
<Globals>
</Globals>
</VisualStudioProject>

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# Makefile for Irrlicht Examples
# It's usually sufficient to change just the target name and source file list
# and be sure that CXX is set to a valid compiler
Target = 07.Collision
Sources = main.cpp
# general compiler settings
CPPFLAGS = -I../../include -I/usr/X11R6/include
CXXFLAGS = -O3 -ffast-math
#CXXFLAGS = -g -Wall
#default target is Linux
all: all_linux
ifeq ($(HOSTTYPE), x86_64)
LIBSELECT=64
endif
# target specific settings
all_linux: LDFLAGS = -L/usr/X11R6/lib$(LIBSELECT) -L../../lib/Linux -lIrrlicht -lGL -lXxf86vm -lXext -lX11 -lXcursor
all_linux clean_linux: SYSTEM=Linux
all_win32: LDFLAGS = -L../../lib/Win32-gcc -lIrrlicht -lopengl32 -lm
all_win32 clean_win32: SYSTEM=Win32-gcc
all_win32 clean_win32: SUF=.exe
# name of the binary - only valid for targets which set SYSTEM
DESTPATH = ../../bin/$(SYSTEM)/$(Target)$(SUF)
all_linux all_win32:
$(warning Building...)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(Sources) -o $(DESTPATH) $(LDFLAGS)
clean: clean_linux clean_win32
$(warning Cleaning...)
clean_linux clean_win32:
@$(RM) $(DESTPATH)
.PHONY: all all_win32 clean clean_linux clean_win32

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/** Example 007 Collision
We will describe 2 methods: Automatic collision detection for moving through
3d worlds with stair climbing and sliding, and manual scene node and triangle
picking using a ray. In this case, we will use a ray coming out from the
camera, but you can use any ray.
To start, we take the program from tutorial 2, which loads and displays a
quake 3 level. We will use the level to walk in it and to pick triangles from.
In addition we'll place 3 animated models into it for triangle picking. The
following code starts up the engine and loads the level, as per tutorial 2.
*/
#include <irrlicht.h>
#include "driverChoice.h"
using namespace irr;
#ifdef _MSC_VER
#pragma comment(lib, "Irrlicht.lib")
#endif
enum
{
// I use this ISceneNode ID to indicate a scene node that is
// not pickable by getSceneNodeAndCollisionPointFromRay()
ID_IsNotPickable = 0,
// I use this flag in ISceneNode IDs to indicate that the
// scene node can be picked by ray selection.
IDFlag_IsPickable = 1 << 0,
// I use this flag in ISceneNode IDs to indicate that the
// scene node can be highlighted. In this example, the
// homonids can be highlighted, but the level mesh can't.
IDFlag_IsHighlightable = 1 << 1
};
int main()
{
// ask user for driver
video::E_DRIVER_TYPE driverType=driverChoiceConsole();
if (driverType==video::EDT_COUNT)
return 1;
// create device
IrrlichtDevice *device =
createDevice(driverType, core::dimension2d<u32>(640, 480), 16, false);
if (device == 0)
return 1; // could not create selected driver.
video::IVideoDriver* driver = device->getVideoDriver();
scene::ISceneManager* smgr = device->getSceneManager();
device->getFileSystem()->addFileArchive("../../media/map-20kdm2.pk3");
scene::IAnimatedMesh* q3levelmesh = smgr->getMesh("20kdm2.bsp");
scene::IMeshSceneNode* q3node = 0;
// The Quake mesh is pickable, but doesn't get highlighted.
if (q3levelmesh)
q3node = smgr->addOctreeSceneNode(q3levelmesh->getMesh(0), 0, IDFlag_IsPickable);
/*
So far so good, we've loaded the quake 3 level like in tutorial 2. Now,
here comes something different: We create a triangle selector. A
triangle selector is a class which can fetch the triangles from scene
nodes for doing different things with them, for example collision
detection. There are different triangle selectors, and all can be
created with the ISceneManager. In this example, we create an
OctreeTriangleSelector, which optimizes the triangle output a little
bit by reducing it like an octree. This is very useful for huge meshes
like quake 3 levels. After we created the triangle selector, we attach
it to the q3node. This is not necessary, but in this way, we do not
need to care for the selector, for example dropping it after we do not
need it anymore.
*/
scene::ITriangleSelector* selector = 0;
if (q3node)
{
q3node->setPosition(core::vector3df(-1350,-130,-1400));
selector = smgr->createOctreeTriangleSelector(
q3node->getMesh(), q3node, 128);
q3node->setTriangleSelector(selector);
// We're not done with this selector yet, so don't drop it.
}
/*
We add a first person shooter camera to the scene so that we can see and
move in the quake 3 level like in tutorial 2. But this, time, we add a
special animator to the camera: A Collision Response animator. This
animator modifies the scene node to which it is attached to in order to
prevent it moving through walls, and to add gravity to it. The
only thing we have to tell the animator is how the world looks like,
how big the scene node is, how much gravity to apply and so on. After the
collision response animator is attached to the camera, we do not have to do
anything more for collision detection, anything is done automatically.
The rest of the collision detection code below is for picking. And please
note another cool feature: The collision response animator can be
attached also to all other scene nodes, not only to cameras. And it can
be mixed with other scene node animators. In this way, collision
detection and response in the Irrlicht engine is really easy.
Now we'll take a closer look on the parameters of
createCollisionResponseAnimator(). The first parameter is the
TriangleSelector, which specifies how the world, against collision
detection is done looks like. The second parameter is the scene node,
which is the object, which is affected by collision detection, in our
case it is the camera. The third defines how big the object is, it is
the radius of an ellipsoid. Try it out and change the radius to smaller
values, the camera will be able to move closer to walls after this. The
next parameter is the direction and speed of gravity. We'll set it to
(0, -10, 0), which approximates to realistic gravity, assuming that our
units are metres. You could set it to (0,0,0) to disable gravity. And the
last value is just a translation: Without this, the ellipsoid with which
collision detection is done would be around the camera, and the camera would
be in the middle of the ellipsoid. But as human beings, we are used to have our
eyes on top of the body, with which we collide with our world, not in
the middle of it. So we place the scene node 50 units over the center
of the ellipsoid with this parameter. And that's it, collision
detection works now.
*/
// Set a jump speed of 3 units per second, which gives a fairly realistic jump
// when used with the gravity of (0, -10, 0) in the collision response animator.
scene::ICameraSceneNode* camera =
smgr->addCameraSceneNodeFPS(0, 100.0f, .3f, ID_IsNotPickable, 0, 0, true, 3.f);
camera->setPosition(core::vector3df(50,50,-60));
camera->setTarget(core::vector3df(-70,30,-60));
if (selector)
{
scene::ISceneNodeAnimator* anim = smgr->createCollisionResponseAnimator(
selector, camera, core::vector3df(30,50,30),
core::vector3df(0,-10,0), core::vector3df(0,30,0));
selector->drop(); // As soon as we're done with the selector, drop it.
camera->addAnimator(anim);
anim->drop(); // And likewise, drop the animator when we're done referring to it.
}
// Now I create three animated characters which we can pick, a dynamic light for
// lighting them, and a billboard for drawing where we found an intersection.
// First, let's get rid of the mouse cursor. We'll use a billboard to show
// what we're looking at.
device->getCursorControl()->setVisible(false);
// Add the billboard.
scene::IBillboardSceneNode * bill = smgr->addBillboardSceneNode();
bill->setMaterialType(video::EMT_TRANSPARENT_ADD_COLOR );
bill->setMaterialTexture(0, driver->getTexture("../../media/particle.bmp"));
bill->setMaterialFlag(video::EMF_LIGHTING, false);
bill->setMaterialFlag(video::EMF_ZBUFFER, false);
bill->setSize(core::dimension2d<f32>(20.0f, 20.0f));
bill->setID(ID_IsNotPickable); // This ensures that we don't accidentally ray-pick it
/* Add 3 animated hominids, which we can pick using a ray-triangle intersection.
They all animate quite slowly, to make it easier to see that accurate triangle
selection is being performed. */
scene::IAnimatedMeshSceneNode* node = 0;
video::SMaterial material;
// Add an MD2 node, which uses vertex-based animation.
node = smgr->addAnimatedMeshSceneNode(smgr->getMesh("../../media/faerie.md2"),
0, IDFlag_IsPickable | IDFlag_IsHighlightable);
node->setPosition(core::vector3df(-90,-15,-140)); // Put its feet on the floor.
node->setScale(core::vector3df(1.6f)); // Make it appear realistically scaled
node->setMD2Animation(scene::EMAT_POINT);
node->setAnimationSpeed(20.f);
material.setTexture(0, driver->getTexture("../../media/faerie2.bmp"));
material.Lighting = true;
material.NormalizeNormals = true;
node->getMaterial(0) = material;
// Now create a triangle selector for it. The selector will know that it
// is associated with an animated node, and will update itself as necessary.
selector = smgr->createTriangleSelector(node);
node->setTriangleSelector(selector);
selector->drop(); // We're done with this selector, so drop it now.
// And this B3D file uses skinned skeletal animation.
node = smgr->addAnimatedMeshSceneNode(smgr->getMesh("../../media/ninja.b3d"),
0, IDFlag_IsPickable | IDFlag_IsHighlightable);
node->setScale(core::vector3df(10));
node->setPosition(core::vector3df(-75,-66,-80));
node->setRotation(core::vector3df(0,90,0));
node->setAnimationSpeed(8.f);
node->getMaterial(0).NormalizeNormals = true;
node->getMaterial(0).Lighting = true;
// Just do the same as we did above.
selector = smgr->createTriangleSelector(node);
node->setTriangleSelector(selector);
selector->drop();
// This X files uses skeletal animation, but without skinning.
node = smgr->addAnimatedMeshSceneNode(smgr->getMesh("../../media/dwarf.x"),
0, IDFlag_IsPickable | IDFlag_IsHighlightable);
node->setPosition(core::vector3df(-70,-66,-30)); // Put its feet on the floor.
node->setRotation(core::vector3df(0,-90,0)); // And turn it towards the camera.
node->setAnimationSpeed(20.f);
node->getMaterial(0).Lighting = true;
selector = smgr->createTriangleSelector(node);
node->setTriangleSelector(selector);
selector->drop();
// And this mdl file uses skinned skeletal animation.
node = smgr->addAnimatedMeshSceneNode(smgr->getMesh("../../media/yodan.mdl"),
0, IDFlag_IsPickable | IDFlag_IsHighlightable);
node->setPosition(core::vector3df(-90,-25,20));
node->setScale(core::vector3df(0.8f));
node->getMaterial(0).Lighting = true;
node->setAnimationSpeed(20.f);
// Just do the same as we did above.
selector = smgr->createTriangleSelector(node);
node->setTriangleSelector(selector);
selector->drop();
material.setTexture(0, 0);
material.Lighting = false;
// Add a light, so that the unselected nodes aren't completely dark.
scene::ILightSceneNode * light = smgr->addLightSceneNode(0, core::vector3df(-60,100,400),
video::SColorf(1.0f,1.0f,1.0f,1.0f), 600.0f);
light->setID(ID_IsNotPickable); // Make it an invalid target for selection.
// Remember which scene node is highlighted
scene::ISceneNode* highlightedSceneNode = 0;
scene::ISceneCollisionManager* collMan = smgr->getSceneCollisionManager();
int lastFPS = -1;
// draw the selection triangle only as wireframe
material.Wireframe=true;
while(device->run())
if (device->isWindowActive())
{
driver->beginScene(true, true, 0);
smgr->drawAll();
// Unlight any currently highlighted scene node
if (highlightedSceneNode)
{
highlightedSceneNode->setMaterialFlag(video::EMF_LIGHTING, true);
highlightedSceneNode = 0;
}
// All intersections in this example are done with a ray cast out from the camera to
// a distance of 1000. You can easily modify this to check (e.g.) a bullet
// trajectory or a sword's position, or create a ray from a mouse click position using
// ISceneCollisionManager::getRayFromScreenCoordinates()
core::line3d<f32> ray;
ray.start = camera->getPosition();
ray.end = ray.start + (camera->getTarget() - ray.start).normalize() * 1000.0f;
// Tracks the current intersection point with the level or a mesh
core::vector3df intersection;
// Used to show with triangle has been hit
core::triangle3df hitTriangle;
// This call is all you need to perform ray/triangle collision on every scene node
// that has a triangle selector, including the Quake level mesh. It finds the nearest
// collision point/triangle, and returns the scene node containing that point.
// Irrlicht provides other types of selection, including ray/triangle selector,
// ray/box and ellipse/triangle selector, plus associated helpers.
// See the methods of ISceneCollisionManager
scene::ISceneNode * selectedSceneNode =
collMan->getSceneNodeAndCollisionPointFromRay(
ray,
intersection, // This will be the position of the collision
hitTriangle, // This will be the triangle hit in the collision
IDFlag_IsPickable, // This ensures that only nodes that we have
// set up to be pickable are considered
0); // Check the entire scene (this is actually the implicit default)
// If the ray hit anything, move the billboard to the collision position
// and draw the triangle that was hit.
if(selectedSceneNode)
{
bill->setPosition(intersection);
// We need to reset the transform before doing our own rendering.
driver->setTransform(video::ETS_WORLD, core::matrix4());
driver->setMaterial(material);
driver->draw3DTriangle(hitTriangle, video::SColor(0,255,0,0));
// We can check the flags for the scene node that was hit to see if it should be
// highlighted. The animated nodes can be highlighted, but not the Quake level mesh
if((selectedSceneNode->getID() & IDFlag_IsHighlightable) == IDFlag_IsHighlightable)
{
highlightedSceneNode = selectedSceneNode;
// Highlighting in this case means turning lighting OFF for this node,
// which means that it will be drawn with full brightness.
highlightedSceneNode->setMaterialFlag(video::EMF_LIGHTING, false);
}
}
// We're all done drawing, so end the scene.
driver->endScene();
int fps = driver->getFPS();
if (lastFPS != fps)
{
core::stringw str = L"Collision detection example - Irrlicht Engine [";
str += driver->getName();
str += "] FPS:";
str += fps;
device->setWindowCaption(str.c_str());
lastFPS = fps;
}
}
device->drop();
return 0;
}
/*
**/

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<html>
<head>
<title>Irrlicht Engine Tutorial</title>
<meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1">
</head>
<body bgcolor="#FFFFFF" leftmargin="0" topmargin="0" marginwidth="0" marginheight="0">
<br>
<table width="95%" border="0" cellspacing="0" cellpadding="2" align="center">
<tr>
<td bgcolor="#666699" width="10"><b><a href="http://irrlicht.sourceforge.net" target="_blank"><img src="../../media/irrlichtlogo.jpg" width="88" height="31" border="0"></a></b></td>
<td bgcolor="#666699" width="100%">
<div align="center">
<div align="center"></div>
<div align="left"><b><font color="#FFFFFF">Tutorial 7. Collision detection
and response</font></b></div>
</div>
</td>
</tr>
<tr bgcolor="#eeeeff">
<td height="90" colspan="2">
<div align="left">
<p>In this tutorial, I will show how to collision detection with the Irrlicht
Engine. I will describe 3 methods: Automatic collision detection for
moving through 3d worlds with stair climbing and sliding, manual triangle
picking and manual scene node picking.</p>
<p>The program which is described here will look like this:</p>
<p align="center"><img src="../../media/007shot.jpg" width="259" height="204"><br>
</p>
</div>
</td>
</tr>
</table>
<br>
<table width="95%" border="0" cellspacing="0" cellpadding="2" align="center">
<tr>
<td bgcolor="#666699"> <div align="center"><b><font color="#FFFFFF"></font></b></div>
<b><font color="#FFFFFF">Lets start!</font></b></td>
</tr>
<tr>
<td height="90" bgcolor="#eeeeff" valign="top"> <div align="left">
<div align="left">
<p>To start, we take the program from tutorial 2, which loaded and displayed
a quake 3 level. We will use the level to walk in it and to pick triangles
from it. In addition we'll place 3 animated models into it for scene
node picking. The following code starts up the engine and loads a
quake 3 level. I will not explain it, because it should already be
known from tutorial 2.</p>
<table width="95%" border="0" cellspacing="2" cellpadding="0" bgcolor="#CCCCCC" align="center">
<tr>
<td> <pre><font size="2"><font color="#008000">#include &lt;irrlicht.h&gt;
#include &lt;iostream&gt;<br>
</font><b>using namespace </b>irr;
<font color="#008000">#pragma comment(lib, &quot;Irrlicht.lib&quot;)
</font><b>int </b>main()
{
<font color="#008000"> // let user select driver type</font>
<br> video::E_DRIVER_TYPE driverType;<br><br> printf(&quot;Please select the driver you want for this example:\n&quot;\<br> &quot; (a) Direct3D 9.0c\n (b) Direct3D 8.1\n (c) OpenGL 1.5\n&quot;\<br> &quot; (d) Software Renderer\n (e) Apfelbaum Software Renderer\n&quot;\<br> &quot; (f) NullDevice\n (otherKey) exit\n\n&quot;);<br><br> char i;<br> std::cin &gt;&gt; i;<br><br> switch(i)<br> {<br> case 'a': driverType = video::EDT_DIRECT3D9;break;<br> case 'b': driverType = video::EDT_DIRECT3D8;break;<br> case 'c': driverType = video::EDT_OPENGL; break;<br> case 'd': driverType = video::EDT_SOFTWARE; break;<br> case 'e': driverType = video::EDT_BURNINGSVIDEO;break; <br> case 'f': driverType = video::EDT_NULL; break;<br> default: return 0;<br> } <br>
<font color="#008000"> // create device</font></font></pre>
<pre> IrrlichtDevice *device = createDevice(driverType,
core::dimension2d&lt;s32&gt;(640, 480), 16, false);<br>
if (device == 0)<br> return 1; // could not create selected driver.<br><br> video::IVideoDriver* driver = device-&gt;getVideoDriver();<br> scene::ISceneManager* smgr = device-&gt;getSceneManager();<br><br> <font size="2">device-&gt;getFileSystem()-&gt;addZipFileArchive<br> (<font color="#FF0000">&quot;../../media/map-20kdm2.pk3&quot;</font>);
scene::IAnimatedMesh* q3levelmesh = smgr-&gt;getMesh(<font color="#FF0000">&quot;20kdm2.bsp&quot;</font>);
scene::ISceneNode* q3node = <font color="#800080">0</font>;
<b>if </b>(q3levelmesh)
q3node = smgr-&gt;addOctTreeSceneNode(q3levelmesh-&gt;getMesh(<font color="#800080">0</font>));
</font></pre>
</td>
</tr>
</table>
<p> So far so good, we've loaded the quake 3 level like in tutorial
2. Now, here comes something different: We create a triangle selector.
A triangle selector is a class which can fetch the triangles from
scene nodes for doing different things with them, for example collision
detection. There are different triangle selectors, and all can be
created with the ISceneManager. In this example, we create an OctTreeTriangleSelector,
which optimizes the triangle output a little bit by reducing it like
an octree. This is very useful for huge meshes like quake 3 levels.<br>
Afte we created the triangle selector, we attach it to the q3node.
This is not necessary, but in this way, we do not need to care for
the selector, for example dropping it after we do not need it anymore.</p>
<table width="95%" border="0" cellspacing="2" cellpadding="0" bgcolor="#CCCCCC" align="center">
<tr>
<td> <pre><font size="2">scene::ITriangleSelector* selector = <font color="#800080">0</font>;
<b>if </b>(q3node)
{
q3node-&gt;setPosition(core::vector3df(-<font color="#800080">1370</font>,-<font color="#800080">130</font>,-<font color="#800080">1400</font>));
selector = smgr-&gt;createOctTreeTriangleSelector(
q3levelmesh-&gt;getMesh(<font color="#800080">0</font>), q3node, <font color="#800080">128</font>);
q3node-&gt;setTriangleSelector(selector);
}</font></pre></td>
</tr>
</table>
<p> We add a first person shooter camera to the scene for being able
to move in the quake 3 level like in tutorial 2. But this, time, we
add a special animator to the camera: A Collision Response animator.
This thing modifies the scene node to which it is attached to in that
way, that it may no more move through walls and is affected by gravity.
The only thing we have to tell the animator is how the world looks
like, how big the scene node is, how gravity and so on. After the
collision response animator is attached to the camera, we do not have
to do anything more for collision detection, anything is done automaticly,
all other collision detection code below is for picking. And please
note another cool feature: The collsion response animator can be attached
also to all other scene nodes, not only to cameras. And it can be
mixed with other scene node animators. In this way, collision detection
and response in the Irrlicht<br>
engine is really, really easy.<br>
Now we'll take a closer look on the parameters of createCollisionResponseAnimator().
The first parameter is the TriangleSelector, which specifies how the
world, against collision detection is done looks like. The second
parameter is the scene node, which is the object, which is affected
by collision detection, in our case it is the camera. The third defines
how big the object is, it is the radius of an ellipsoid. Try it out
and change the radius to smaller values, the camera will be able to
move closer to walls after this. The next parameter is the direction
and speed of gravity. You could set it to (0,0,0) to disable gravity.
And the last value is just a translation: Without this, the ellipsoid
with which collision detection is done would be around the camera,
and the camera would be in the middle of the ellipsoid. But as human
beings, we are used to have our eyes on top of the body, with which
we collide with our world, not in the middle of it. So we place the
scene node 50 units over the center of the ellipsoid with this parameter.
And that's it, collision detection works now. <br>
</p>
<table width="95%" border="0" cellspacing="2" cellpadding="0" bgcolor="#CCCCCC" align="center">
<tr>
<td> <pre><font size="2"> scene::ICameraSceneNode* camera = <br> camera = smgr-&gt;addCameraSceneNodeFPS(<font color="#800080">0</font>,<font color="#800080">100.0f</font>,<font color="#800080">300.0f</font>);
camera-&gt;setPosition(core::vector3df(-10<font color="#800080">0</font>,<font color="#800080">50</font>,-15<font color="#800080">0</font>));
scene::ISceneNodeAnimator* anim =<br> smgr-&gt;createCollisionResponseAnimator(
selector, camera, core::vector3df(<font color="#800080">30</font>,<font color="#800080">50</font>,<font color="#800080">30</font>),
core::vector3df(<font color="#800080">0</font>,<font color="#800080">-3</font>,<font color="#800080">0</font>),
core::vector3df(<font color="#800080">0</font>,<font color="#800080">50</font>,<font color="#800080">0</font>));<br>
selector-&gt;drop();<br>
camera-&gt;addAnimator(anim);
anim-&gt;drop();</font></pre></td>
</tr>
</table>
<p> Because collision detection is no big deal in irrlicht, I'll describe
how to do two different types of picking in the next section. But
before this, I'll prepare the scene a little. I need three animated
characters which we <br>
could pick later, a dynamic light for lighting them, a billboard for
drawing where we found an intersection, and, yes, I need to get rid
of this mouse cursor. :)</p>
<table width="95%" border="0" cellspacing="2" cellpadding="0" bgcolor="#CCCCCC" align="center">
<tr>
<td> <pre><font size="2"> <font color="#0A246A"><i>// disable mouse cursor
</i></font> device-&gt;getCursorControl()-&gt;setVisible(<b>false</b>);
<font color="#0A246A"><i>// add billboard
</i></font> scene::IBillboardSceneNode * bill = smgr-&gt;addBillboardSceneNode();
bill-&gt;setMaterialType(video::EMT_TRANSPARENT_ADD_COLOR );
bill-&gt;setMaterialTexture(<font color="#800080">0</font>, driver-&gt;getTexture(<br> <font color="#FF0000">&quot;../../media/particle.bmp&quot;</font>));
bill-&gt;setMaterialFlag(video::EMF_LIGHTING, <b>false</b>);
bill-&gt;setSize(core::dimension2d&lt;f32&gt;(<font color="#800080">20.0f</font>, <font color="#800080">20.0f</font>));
<font color="#0A246A"><i>// add 3 animated faeries.
</i></font> video::SMaterial material;
material.Texture1 = driver-&gt;getTexture(<font color="#FF0000"><br> &quot;../../media/faerie2.bmp&quot;</font>);
material.Lighting = <b>true</b>;
scene::IAnimatedMeshSceneNode* node = <font color="#800080">0</font>;
scene::IAnimatedMesh* faerie = smgr-&gt;getMesh(<br> <font color="#FF0000">&quot;../../media/faerie.md2&quot;</font>);
<b>if </b>(faerie)
{
node = smgr-&gt;addAnimatedMeshSceneNode(faerie);
node-&gt;setPosition(core::vector3df(-<font color="#800080">70</font>,<font color="#800080">0</font>,-<font color="#800080">90</font>));
node-&gt;setMD2Animation(scene::EMAT_RUN);
node-&gt;getMaterial(<font color="#800080">0</font>) = material;
node = smgr-&gt;addAnimatedMeshSceneNode(faerie);
node-&gt;setPosition(core::vector3df(-<font color="#800080">70</font>,<font color="#800080">0</font>,-<font color="#800080">30</font>));
node-&gt;setMD2Animation(scene::EMAT_SALUTE);
node-&gt;getMaterial(<font color="#800080">0</font>) = material;
node = smgr-&gt;addAnimatedMeshSceneNode(faerie);
node-&gt;setPosition(core::vector3df(-<font color="#800080">70</font>,<font color="#800080">0</font>,-<font color="#800080">60</font>));
node-&gt;setMD2Animation(scene::EMAT_JUMP);
node-&gt;getMaterial(<font color="#800080">0</font>) = material;
}
material.Texture1 = <font color="#800080">0</font>;
material.Lighting = <b>false</b>;
<font color="#0A246A"><i>// Add a light
</i></font> smgr-&gt;addLightSceneNode(<font color="#800080">0</font>, core::vector3df(-<font color="#800080">60</font>,<font color="#800080">100</font>,<font color="#800080">400</font>),
video::SColorf(<font color="#800080">1.0f</font>,<font color="#800080">1.0f</font>,<font color="#800080">1.0f</font>,<font color="#800080">1.0f</font>),
<font color="#800080">600.0f</font>);</font></pre></td>
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<p>For not making it to complicated, I'm doing picking inside the drawing
loop. We take two pointers for storing the current and the last selected
scene node and start the loop.</p>
</div>
<table width="95%" border="0" cellspacing="2" cellpadding="0" bgcolor="#CCCCCC" align="center">
<tr>
<td> <pre><font size="2"> scene::ISceneNode* selectedSceneNode = <font color="#800080">0</font>;
scene::ISceneNode* lastSelectedSceneNode = <font color="#800080">0</font>;
<b>int </b>lastFPS = -<font color="#800080">1</font>;
<b>while</b>(device-&gt;run())<br> <strong>if</strong> (device-&gt;isWindowActive())
{
driver-&gt;beginScene(<b>true</b>, <b>true</b>, <font color="#800080">0</font>);
smgr-&gt;drawAll();</font></pre></td>
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</table>
<p> After we've drawn the whole scene whit smgr-&gt;drawAll(), we'll do
the first picking: We want to know which triangle of the world we are
looking at. In addition, we want the exact point of the quake 3 level
we are looking at. For this, we create a 3d line starting at the position
of the camera and going through the lookAt-target of it. Then we ask
the collision manager if this line collides with a triangle of the world
stored in the triangle selector. If yes, we draw the 3d triangle and
set the position of the billboard to the intersection point. </p>
<table width="95%" border="0" cellspacing="2" cellpadding="0" bgcolor="#CCCCCC" align="center">
<tr>
<td><pre><font size="2"> core::line3d&lt;f32&gt; line;
line.start = camera-&gt;getPosition();
line.end = line.start +
(camera-&gt;getTarget() - line.start).normalize() * <font color="#800080">1000.0f</font>;
core::vector3df intersection;
core::triangle3df tri;
<b>if </b>(smgr-&gt;getSceneCollisionManager()-&gt;getCollisionPoint(
line, selector, intersection, tri))
{
bill-&gt;setPosition(intersection);
driver-&gt;setTransform(video::ETS_WORLD, core::matrix4());
driver-&gt;setMaterial(material);
driver-&gt;draw3DTriangle(tri, video::SColor(<font color="#800080">0</font>,<font color="#800080">255</font>,<font color="#800080">0</font>,<font color="#800080">0</font>));
}</font></pre></td>
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</table>
<p> Another type of picking supported by the Irrlicht Engine is scene
node picking based on bouding boxes. Every scene node has got a bounding
box, and because of that, it's very fast for example to get the scene
node which the camera looks<br>
at. Again, we ask the collision manager for this, and if we've got a
scene node, we highlight it by disabling Lighting in its material, if
it is not the billboard or the quake 3 level. </p>
<table width="95%" border="0" cellspacing="2" cellpadding="0" bgcolor="#CCCCCC" align="center">
<tr>
<td><pre><font size="2"> selectedSceneNode = smgr-&gt;getSceneCollisionManager()-&gt;
getSceneNodeFromCameraBB(camera);
<b>if </b>(lastSelectedSceneNode)
lastSelectedSceneNode-&gt;setMaterialFlag(
video::EMF_LIGHTING, <b>true</b>);
<b>if </b>(selectedSceneNode == q3node ||
selectedSceneNode == bill)
selectedSceneNode = <font color="#800080">0</font>;
<b>if </b>(selectedSceneNode)
selectedSceneNode-&gt;setMaterialFlag(
video::EMF_LIGHTING, <b>false</b>);
lastSelectedSceneNode = selectedSceneNode;</font></pre></td>
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</table>
<p> That's it, we just have to finish drawing.</p>
<table width="95%" border="0" cellspacing="2" cellpadding="0" bgcolor="#CCCCCC" align="center">
<tr>
<td> <pre><font size="2"> driver-&gt;endScene();
<b>int </b>fps = driver-&gt;getFPS();
<b>if </b>(lastFPS != fps)
{
core::stringw str = L&quot;Collision detection example - Irrlicht Engine [&quot;;<br> str += driver-&gt;getName();<br> str += &quot;] FPS:&quot;;<br> str += fps;<br><br> device-&gt;setWindowCaption(str.c_str());<br> lastFPS = fps;<br> }
}
device-&gt;drop();
<b>return </b><font color="#800080">0</font>;
}
</font></pre></td>
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<p>&nbsp;</p>
<p>&nbsp;</p>
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<p>&nbsp;</p>
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