Mercurial > hg > Members > e075743

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/Avatar.h	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,57 @@
+/*
+ *  Avatar.h
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/27.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#ifndef _AVATAR_H_
+#define _AVATAR_H_
+
+#include "Martial.h"
+#include "CollisionObject.h"
+#include "ControllableObject.h"
+#include "SearchMatrixTransformVisitor.h"
+#include "SearchGeodeVisitor.h"
+
+/*!
+    @class		Avatar
+    @abstract   Martial上で、Playerが操作するクラス
+    @discussion 衝突判定(Collision)、入力処理(Controllable)を行なう。
+*/
+
+class Avatar : public CollisionObject, public ControllableObject {
+	protected:
+		/*! @var キャラクターの体力 */
+		int hitpoint;
+		/*! @var コマンド入力用のバファ
+			@discussion コマンドの入力は状態遷移関数でやった方が良いかも
+		*/
+		char keyboardInputBuffer[Martial::CONFIG::FRAME_RATE];
+		/*! @var Avatarの体内時計。モーションの更新や判定で使用 */
+		int  motionTime;
+		/*! @var Avatarの向いてる方向。Player1 -> 1, Player2 -> -1
+			@discussion bool (0 or 1)にして、(bool*2) - 1 でもok?   */
+		int	 avatarDirection;
+		enum functionIndex {
+			RELEASE_HAT, PUSH_UP, PUSH_RIGHT, PUSH_LEFT, PUSH_DOWN,
+			PUSH_RIGHTUP, PUSH_RIGHTDOWN, PUSH_LEFTUP, PUSH_LEFTDOWN,
+			PUSH_A, PUSH_B, PUSH_C, PUSH_D,	RELEASE_BUTTON
+		};
+	public:
+		Avatar(char* _name = "Character") :
+			avatarDirection(1), CollisionObject::CollisionObject(_name) {};
+
+		Avatar(osg::Node* _node,  char* _name = "Character") :
+			avatarDirection(1), CollisionObject::CollisionObject(_node, _name) {};
+
+		void printInput(char* format, char* name) { if (Martial::TEST::SHOW_AVATAR_INPUT) Martial::TEST::print(format, name); };
+
+		void onStage();
+
+		void setAvatarDirection(int dir) { avatarDirection = dir; };
+};
+
+#endif
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/CollisionDetector.cpp	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,71 @@
+/*
+ *  CollisionDetector.cpp
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/26.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#include "CollisionDetector.h"
+
+void CollisionDetector::addCollisionObject(CollisionObject* cobj) {
+	collisionObjectList.push_back(cobj);
+}
+
+void CollisionDetector::detectCollision(CollisionNode* cn1, CollisionNode* cn2) {
+	cn1->setCollision(true);
+	cn2->setCollision(true);
+}
+
+void CollisionDetector::checkCollision(CollisionObject* co1, CollisionObject* co2) {
+	std::list<CollisionNode*> collisionNodeList1, collisionNodeList2;
+	collisionNodeList1 = co1->getCollisionNodeList();
+	collisionNodeList2 = co2->getCollisionNodeList();
+	osg::NodePath npl1 , npl2;
+	osg::Matrix m1, m2;
+	std::list<CollisionNode*>::iterator node1, node2;
+	for(node1 = collisionNodeList1.begin(); node1 != collisionNodeList1.end(); ++node1) {
+		for(node2 = collisionNodeList2.begin(); node2 != collisionNodeList2.end(); ++node2) {
+			npl1 = (*node1)->getNodePath();
+			npl2 = (*node2)->getNodePath();
+			//衝突判定
+			m1 = osg::computeLocalToWorld(npl1);
+			m2 = osg::computeLocalToWorld(npl2);
+			if ((*node1)->getBound(m1).intersects((*node2)->getBound(m2))) {
+				if (Martial::TEST::SHOW_COLLISION) printf("collision!! %s->[%s] & %s->[%s]\n", co1->getName(), (*node1)->getName(),
+					co2->getName(), (*node2)->getName());
+				detectCollision(*node1, *node2);
+			}
+		}
+	}
+}
+
+void CollisionDetector::frame() {
+	std::list<CollisionObject*>::iterator iter1, iter2;
+	iter1 = collisionObjectList.begin();
+	iter2 = iter1;
+	float length;
+	osg::Vec3 v1, v2;
+
+	for(++iter1; iter1 != collisionObjectList.end(); ++iter1) {
+		length = ((*iter1)->getPos()-(*iter2)->getPos()).length();
+		if (length <= 3.0) {
+			if (Martial::TEST::SHOW_COLLISION) printf("%s close to %s (%.3f), check collision..\n", (*iter2)->getName(), (*iter1)->getName(), length);
+			checkCollision(*iter1, *iter2);
+		}
+		iter2 = iter1;
+	}
+}
+/*
+		startFrameTick = osg::Timer::instance()->tick();
+
+		//SceneGraphの走査 -> 座標計算, 衝突判定
+		//衝突処理はcheckCollision内部で行なう?(未実装)
+		for(mobIter = movableObjectList.begin(); mobIter != movableObjectList.end(); ++mobIter) {
+			(*mobIter)->reload();
+			//このcheckCollisionは、後に削除
+			//CollisionDetectorクラスを定義し、そこでcheckCollsionすることに
+			(*mobIter)->checkCollision();
+		}
+*/
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/CollisionDetector.h	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,29 @@
+/*
+ *  CollisionDetector.h
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/26.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#ifndef _COLLISION_DETECTOR_H_
+#define _COLLISION_DETECTOR_H_
+
+#include "Martial.h"
+#include "CollisionObject.h"
+#include <list>
+#include <iostream>
+
+class CollisionDetector {
+	protected:
+		std::list<CollisionObject*> collisionObjectList;
+		void searchCloseObject();
+		void checkCollision(CollisionObject* co1, CollisionObject* co2);
+		void detectCollision(CollisionNode* cn1, CollisionNode* cn2);
+	public:
+		void frame();
+		void addCollisionObject(CollisionObject* cobj);
+};
+
+#endif
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/CollisionNode.cpp	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,71 @@
+/*
+ *  CollisionNode.cpp
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/26.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#include "CollisionNode.h"
+
+CollisionNode::CollisionNode(char* name, osg::Sphere* shape):
+	name(name), shape(shape) {
+	collision = false;
+	attack = false;
+	guard = false;
+	radius = shape->getRadius();
+	drawable = new osg::ShapeDrawable(shape);
+	drawable->setColor(osg::Vec4f(1,1,1,1));
+	collisionNode = new osg::Geode();
+	collisionNode->addDrawable(drawable);
+}
+
+CollisionNode::CollisionNode(char* name, osg::Cylinder* shape):
+	name(name), shape(shape) {
+	collision = false;
+	attack = false;
+	guard = false;
+	radius = shape->getRadius();
+	drawable = new osg::ShapeDrawable(shape);
+	drawable->setColor(osg::Vec4f(1,1,1,1));
+	collisionNode = new osg::Geode();
+	collisionNode->addDrawable(drawable);
+}
+
+CollisionNode::CollisionNode(char* name, osg::Geode* geode, osg::Shape* shape):
+	name(name), collisionNode(geode), shape(shape) {
+	collision = false;
+	attack = false;
+	guard = false;
+	drawable = new osg::ShapeDrawable(shape);
+	drawable->setColor(osg::Vec4f(1,1,1,1));
+	collisionNode->addDrawable(drawable);
+}
+
+
+void CollisionNode::setCollision(bool _collision) {
+	_collision ? drawable->setColor(osg::Vec4f(1,0,0,1)) : drawable->setColor(osg::Vec4f(1,1,1,1));
+	collision = _collision;
+}
+
+char* CollisionNode::getName() {
+	return name;
+}
+
+osg::NodePath CollisionNode::getNodePath() {
+	return collisionNode->getParentalNodePaths().front();
+}
+
+osg::Geode* CollisionNode::getGeode() {
+	return collisionNode;
+}
+
+osg::BoundingSphere CollisionNode::getBound(osg::Matrix localToWorldMatrix) {
+	osg::Vec3 t = localToWorldMatrix.getTrans();
+	osg::BoundingSphere bound = collisionNode->computeBound();
+	//printf("[%.3f, %.3f, %.3f]\n", localToWorldMatrix.getTrans().x(), localToWorldMatrix.getTrans().y(),
+	//	localToWorldMatrix.getTrans().z());
+	bound.set(bound.center()*localToWorldMatrix, radius*0.01);
+	return bound;
+}
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/CollisionNode.h	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,46 @@
+/*
+ *  CollisionNode.h
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/26.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#ifndef _COLLISION_NODE_H_
+#define _COLLISION_NODE_H_
+
+#include <osg/Group>
+#include <osg/Node>
+#include <osg/Drawable>
+#include <osg/Geode>
+#include <osg/Material>
+#include <osg/Shape>
+#include <osg/ShapeDrawable>
+#include <osg/StateSet>
+
+class CollisionNode {
+	protected:
+		osg::Group* collisionGroup;
+		osg::Geode* collisionNode;
+		osg::Shape* shape;
+		float radius;
+		osg::ShapeDrawable* drawable;
+		bool collision;
+		bool attack;
+		bool guard;
+		char* name;
+	public:
+		CollisionNode(char* name = "CollisionNode", osg::Sphere* _shape = new osg::Sphere(osg::Vec3(0, 0, 0), 0));
+		CollisionNode(char* name = "CollisionNode", osg::Cylinder* _shape = new osg::Cylinder(osg::Vec3(0, 0, 0),0, 0));
+		CollisionNode(char* name = "CollisionNode", osg::Geode* geode = NULL, osg::Shape* shape = new osg::Sphere(osg::Vec3(0,0,0),0));
+		osg::Geode* getGeode();
+		osg::BoundingSphere getBound(osg::Matrix localToWorldMatrix);
+		osg::NodePath getNodePath();
+		//void drawable();
+		//void unDrawable();
+		void setCollision(bool collision);
+		char* getName();
+};
+
+#endif
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/CollisionObject.cpp	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,14 @@
+/*
+ *  CollisionObject.cpp
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/26.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#include "CollisionObject.h"
+
+std::list<CollisionNode*>& CollisionObject::getCollisionNodeList() {
+	return collisionNodeList;
+}
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/CollisionObject.h	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,31 @@
+/*
+ *  CollisionObject.h
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/26.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+/*!
+    @class		CollisionObject
+    @abstract   衝突判定が適用されるクラス。 CollisionNodeをリストで保持している。
+*/
+
+#ifndef _COLLISION_OBJECT_H_
+#define _COLLISION_OBJECT_H_
+
+#include <MovableObject.h>
+#include <CollisionNode.h>
+
+class CollisionObject : public MovableObject {
+	protected:
+		osg::NodePath* nodePath;
+		std::list<CollisionNode*> collisionNodeList;
+	public:
+		CollisionObject(char* name = "CollisionObject") : MovableObject::MovableObject(name) {};
+		CollisionObject(osg::Node* _node,  char* _name = "CollisionObject") : MovableObject::MovableObject(_node, _name) {};
+		std::list<CollisionNode*>& getCollisionNodeList();
+};
+
+#endif
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/ControllableObject.h	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,51 @@
+/*
+ *  ControllableObject.h
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/23.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#ifndef _CONTROLLABLE_OBJECT_H_
+#define _CONTROLLABLE_OBJECT_H_
+
+/*!
+    @class		ContorollableObject
+    @abstract   Keyboardのcallbackを設定できるクラス。
+				EyePoint, Avatar
+    @discussion MovableObjectを継承.
+*/
+
+class ControllableObject {
+	public:
+/*!
+    @enum
+    @abstract   KeyboardEventHanderでHandle設定できるControllableクラスの関数群(インターフェース)
+    @discussion Javaでいう interface (でも、純粋仮想関数ではない。デフォルトではなにもしないように)
+*/
+		virtual void pushLeft() {};
+		virtual void releaseLeft() {};
+		virtual void pushRight() {};
+		virtual void releaseRight() {};
+		virtual void pushUp() {};
+		virtual void releaseUp() {};
+		virtual void pushDown() {};
+		virtual void releaseDown() {};
+		virtual void pushA() {};
+		virtual void releaseA() {};
+		virtual void pushB() {};
+		virtual void releaseB() {};
+		virtual void pushC() {};
+		virtual void releaseC() {};
+		virtual void pushD() {};
+		virtual void releaseHat() {};
+		virtual void releaseButton() {};
+		virtual void releaseD() {};
+		virtual void pushRightUp() {};
+		virtual void pushRightDown() {};
+		virtual void pushLeftUp() {};
+		virtual void pushLeftDown() {};
+};
+
+#endif
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/EyePoint.cpp	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,19 @@
+/*
+ *  eyePoint.cpp
+ *  carRace
+ *
+ *  Created by ryoma on 09/05/20.
+ *  Copyright 2009 __MyCompanyName__. All rights reserved.
+ *
+ */
+
+#include "EyePoint.h"
+
+EyePoint::EyePoint(char* name) : MovableObject(name) {
+	offset = osg::Vec3(0,0,0);
+	Tman = new osgGA::TrackballManipulator();
+}
+
+osgGA::TrackballManipulator* EyePoint::getManpulator() {
+	return Tman;
+}
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/EyePoint.h	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,32 @@
+/*
+ *  eyePoint.h
+ *  carRace
+ *
+ *  Created by ryoma on 09/05/20.
+ *  Copyright 2009 __MyCompanyName__. All rights reserved.
+ *
+ */
+
+/** 視点を表すクラス.
+ *  指定したMovableオブジェクトの視点を描画する
+ *  @see Car
+ */
+#ifndef EYE_POINT_H
+#define EYE_POINT_H
+
+#include "Martial.h"
+#include "MovableObject.h"
+#include <osg/MatrixTransform>
+
+class EyePoint : public MovableObject {
+	protected:
+		osgGA::TrackballManipulator* Tman;
+		osg::Vec3 offset;
+	public:
+		EyePoint(char* name = "EyePoint");
+		virtual void frame() = 0;
+		virtual void setTarget(MovableObject* _target) = 0;
+		osgGA::TrackballManipulator* getManpulator();
+};
+
+#endif
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/GameManager.cpp	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,269 @@
+/*
+ *  GameManager.cpp
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/23.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#include "GameManager.h"
+
+/**
+	ここはサブクラスにまかせたい。
+*/
+
+GameManager::GameManager() {
+	//movableObjectList = new std::list<MovableObject*>();
+	/* グラフィックスとジョイスティックを初期化 */
+	puts("SDL_INIT_JOYSTICK.. ");
+	if (SDL_Init(SDL_INIT_JOYSTICK) < 0) {
+		fprintf(stderr, "Unable to init SDL: %s\n", SDL_GetError());
+		exit(0);
+	} else {
+		puts("success!!");
+	}
+
+	int i;
+	printf("%d joysticks found.\n",SDL_NumJoysticks());
+	printf("their names are:\n");
+	for(i=0; i<SDL_NumJoysticks(); i++)
+		printf("%d = %s\n",i,SDL_JoystickName(i));
+
+	root = new osg::Group();
+	collisionDetector = new CollisionDetector();
+}
+
+void GameManager::addMovableObject(MovableObject* mob) {
+	movableObjectList.push_back(mob);
+	return;
+}
+
+void GameManager::initStage() {
+	osg::Geode* clothGeode = new osg::Geode();
+	osg::Geometry* clothGeometry = new osg::Geometry();
+	clothGeode->addDrawable(clothGeometry);
+	//root->addChild(clothGeode);
+
+	float clen;
+	clen = 100.0;
+	osg::Vec3Array* clothVertices = new osg::Vec3Array;
+	clothVertices->push_back (osg::Vec3( clen, clen, 0.0));
+	clothVertices->push_back (osg::Vec3( clen, -clen, 0.0));
+	clothVertices->push_back (osg::Vec3(	-clen, -clen, 0.0));
+	clothVertices->push_back (osg::Vec3( -clen, clen,	0.0));
+	clothGeometry->setVertexArray(clothVertices);
+
+	osg::DrawElementsUInt* cloth =
+	new osg::DrawElementsUInt(osg::PrimitiveSet::QUADS, 0);
+	cloth->push_back(3);
+	cloth->push_back(2);
+	cloth->push_back(1);
+	cloth->push_back(0);
+	clothGeometry->addPrimitiveSet(cloth);
+
+	osg::Texture2D* clothTexture = new osg::Texture2D;
+	clothTexture->setDataVariance(osg::Object::DYNAMIC);
+	osg::Image* clothImage = osgDB::readImageFile("Cell 23.rgb");
+	if (!clothImage) {
+		printf("Error!!");
+		return;
+	}
+	clothTexture->setImage(clothImage);
+	osg::StateSet* stateOne = new osg::StateSet();
+	stateOne->setTextureAttributeAndModes(0,clothTexture,osg::StateAttribute::ON);
+	clothGeometry->setStateSet(stateOne);
+	osg::AutoTransform* fieldForm = new osg::AutoTransform();
+	fieldForm->addChild(clothGeode);
+	fieldForm->setPosition(osg::Vec3(0,0,-5));
+	root->addChild(fieldForm);
+}
+
+void GameManager::gameStart() {
+	puts("entory gameStart");
+
+	osg::Timer_t sTick, eTick;
+	osgViewer::CompositeViewer viewer;
+
+	puts("Initialize Stage...");
+	sTick = osg::Timer::instance()->tick();
+
+	initStage();
+
+	eTick = osg::Timer::instance()->tick();
+	printf("ok.. (%.6f msec)\n",osg::Timer::instance()->delta_s(sTick, eTick)*1000.0);
+
+	puts("Create Avatar..");
+
+	sTick = osg::Timer::instance()->tick();
+	Robot* roboObj1 = new Robot("robo1");
+
+	roboObj1->setPos(osg::Vec3(10,0,0));
+	roboObj1->setDefaultDirection(osg::Vec3(0.0, 0.0, 90.0)); //物体のデフォルトの向き
+	root->addChild(roboObj1->getForm());
+	movableObjectList.push_back(roboObj1);
+	collisionDetector->addCollisionObject(roboObj1);
+
+	eTick = osg::Timer::instance()->tick();
+	printf("%s: created.. (%.6f msec)\n",roboObj1->getName(), osg::Timer::instance()->delta_s(sTick, eTick)*1000.0);
+
+	sTick = osg::Timer::instance()->tick();
+
+	Robot* movObj = new Robot("robo2");
+	//movObj->setPos(osg::Vec3(-10,0,0));
+	movObj->setDefaultDirection(osg::Vec3(0.0, 0.0, 90));
+	movObj->setAvatarDirection(-1);
+	root->addChild(movObj->getForm());
+	movableObjectList.push_back(movObj);
+	collisionDetector->addCollisionObject(movObj);
+
+	eTick = osg::Timer::instance()->tick();
+	printf("%s: created.. (%.6f msec)\n",movObj->getName(), osg::Timer::instance()->delta_s(sTick, eTick)*1000.0);
+
+	puts("Initialize Window");
+	sTick = osg::Timer::instance()->tick();
+
+	osg::GraphicsContext::WindowingSystemInterface* wsi = osg::GraphicsContext::getWindowingSystemInterface();
+	if (!wsi) {
+		osg::notify(osg::NOTICE) << "Error, no WindowSystemInterface available, cannot create windows."<<std::endl;
+		return;
+	}
+
+	unsigned int width, height;
+	wsi->getScreenResolution(osg::GraphicsContext::ScreenIdentifier(0), width, height);
+
+	osg::ref_ptr<osg::GraphicsContext::Traits> traits = new osg::GraphicsContext::Traits;
+	traits->x = 100;
+	traits->y = 100;
+	traits->width = Martial::CONFIG::WINDOW_WIDTH;
+	traits->height = Martial::CONFIG::WINDOW_HEIGHT;
+	traits->windowDecoration = true;
+	traits->doubleBuffer = true;
+	traits->sharedContext = 0;
+
+	osg::ref_ptr<osg::GraphicsContext> gc = osg::GraphicsContext::createGraphicsContext(traits.get());
+	if (gc.valid())	{
+		osg::notify(osg::INFO)<<"  GraphicsWindow has been created successfully."<<std::endl;
+
+		// need to ensure that the window is cleared make sure that the complete window is set the correct colour
+		// rather than just the parts of the window that are under the camera's viewports
+		gc->setClearColor(osg::Vec4f(0.2f,0.2f,0.6f,1.0f));
+		gc->setClearMask(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+	} else {
+		osg::notify(osg::NOTICE)<<"  GraphicsWindow has not been created successfully."<<std::endl;
+	}
+
+	eTick = osg::Timer::instance()->tick();
+	printf("ok.. (%.6f msec)\n", osg::Timer::instance()->delta_s(sTick, eTick)*1000.0);
+
+	puts("Initialize View");
+	eTick = osg::Timer::instance()->tick();
+
+	EyePoint* globalEyePoint = new GlobalEyePoint();
+	globalEyePoint->setTarget(roboObj1);
+	globalEyePoint->setTarget(movObj);
+
+	//ここは後で書き直す -> <Playerの中でsetOwnerする>
+	PlayerEyePoint* playerEyePoint = new PlayerEyePoint(roboObj1);
+	playerEyePoint->setOwner(roboObj1);
+
+	addMovableObject(globalEyePoint);
+	addMovableObject(playerEyePoint);
+
+	Player* player1 = new Player("Player1", roboObj1, playerEyePoint);
+
+	SDL_Joystick *joy = SDL_JoystickOpen(0);
+	KeyboardEventHandler* keh = new KeyboardEventHandler();
+
+	bool canUseJoy = (joy != NULL && SDL_JoystickNumHats(joy));
+	canUseJoy = false; // joypad動かないので保留
+
+	if (canUseJoy) {
+		player1->registerJOY(joy);
+	} else {
+		player1->registerKEH(keh);
+	}
+
+	// view one
+	{
+		osgViewer::View* view = new osgViewer::View;
+		viewer.addView(view);
+
+		view->setSceneData(root);
+		view->getCamera()->setViewport(new osg::Viewport(0,0, traits->width, traits->height));
+		view->getCamera()->setGraphicsContext(gc.get());
+		view->setCameraManipulator(globalEyePoint->getManpulator());
+
+		// add the state manipulator
+		osg::ref_ptr<osgGA::StateSetManipulator> statesetManipulator = new osgGA::StateSetManipulator;
+		statesetManipulator->setStateSet(view->getCamera()->getOrCreateStateSet());
+		view->addEventHandler(keh);
+	}
+
+	// view two
+	{
+		osgViewer::View* view = new osgViewer::View;
+		viewer.addView(view);
+		view->setSceneData(root);
+		view->getCamera()->setViewport(new osg::Viewport(0, traits->height/3*2, traits->width/3, traits->height/3));
+		view->getCamera()->setGraphicsContext(gc.get());
+		view->setCameraManipulator(playerEyePoint->getManpulator());
+	}
+
+	viewer.realize();
+	//viewer.addEventHandler(keh);
+
+	eTick = osg::Timer::instance()->tick();
+	printf("ok.. (%.6f msec)\n", osg::Timer::instance()->delta_s(sTick, eTick)*1000.0);
+
+	osg::Timer_t startFrameTick, moveFrameTick, renderFrameTick;
+	std::list<MovableObject*>::iterator mobIter;
+
+	const int SAMPLE_RATE = Martial::CONFIG::FRAME_RATE/2;
+	int frame;
+	float frameAverageTime, renderAvarageTime, moveAverageTime, frameTime;
+	frame = frameAverageTime = renderAvarageTime = moveAverageTime = 0;
+
+	puts("[Game Main Loop]");
+
+	//メインループ
+	while (!viewer.done()) {
+		startFrameTick = osg::Timer::instance()->tick();
+
+		player1->frame();
+
+		//SceneGraphの走査 -> 座標計算, 衝突判定
+		//衝突処理はcheckCollision内部で行なう?(未実装)
+		for(mobIter = movableObjectList.begin(); mobIter != movableObjectList.end(); ++mobIter) {
+			(*mobIter)->frame();
+		}
+
+		//衝突判定 - CollisionDetector にまかせる
+		collisionDetector->frame();
+
+		//描画 ここで一番時間がかかる
+		moveFrameTick = osg::Timer::instance()->tick();
+		moveAverageTime += osg::Timer::instance()->delta_s(startFrameTick, moveFrameTick);
+
+		viewer.frame();
+
+		renderFrameTick = osg::Timer::instance()->tick();
+		renderAvarageTime += osg::Timer::instance()->delta_s(moveFrameTick, renderFrameTick);
+
+		frameAverageTime += (frameTime = osg::Timer::instance()->delta_s(startFrameTick, renderFrameTick));
+
+		frame++;
+		if (Martial::TEST::SHOW_FPS) {
+			if (frame == SAMPLE_RATE) {
+				printf("\nfps: %.3f\n (move: %.6f msec, render: %.6f msec)\n\n", (float)SAMPLE_RATE/frameAverageTime,
+					moveAverageTime*1000.0/(float)SAMPLE_RATE, renderAvarageTime*1000.0/(float)SAMPLE_RATE);
+				frame = frameAverageTime = renderAvarageTime = moveAverageTime = 0;
+			}
+		}
+
+		if (frameTime < Martial::CONFIG::FRAME_MIN_TIME) {
+			OpenThreads::Thread::microSleep(1000000.0*(Martial::CONFIG::FRAME_MIN_TIME-frameTime));
+		}
+	}
+	return;
+}
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/GameManager.h	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,65 @@
+/*
+ *  GameManager.h
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/23.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+/*!
+    @class		GameManager
+    @abstract   ゲーム全体の処理を司るクラス
+    @discussion SceneGraph上のノードの操作を行なう
+				プログラム全体から参照される値(フレーム値)などの定義も
+*/
+
+#ifndef _GAME_MANAGER_HEADER_
+#define _GAME_MANAGER_HEADER_
+
+#include <osg/Group>
+#include <osg/Node>
+#include <osg/NodeCallback>
+#include <osg/Geometry>
+#include <osg/Texture2D>
+#include <osg/PositionAttitudeTransform>
+#include <osgViewer/Viewer>
+#include <osgViewer/CompositeViewer>
+#include <osgViewer/ViewerEventHandlers>
+#include <osgDB/ReadFile>
+#include <osgGA/TrackballManipulator>
+#include <osgGA/StateSetManipulator>
+#include <osgGA/GUIEventHandler>
+#include <SDL/SDL.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <unistd.h>
+
+#include <list>
+#include "Martial.h"
+#include "GlobalEyePoint.h"
+#include "PlayerEyePoint.h"
+#include "KeyboardEventHandler.h"
+#include "Robot.h"
+#include "CollisionDetector.h"
+#include "Player.h"
+
+class GameManager {
+	private:
+	/*!	@var MovableObject
+		@abstract SceneGraph上の座標演算,衝突判定を行なうMovableObjectのlist
+		@discussion listより良いデータ構造があるかもしれないけど、とりあえずlistで。*/
+		std::list<MovableObject*> movableObjectList;
+
+		CollisionDetector* collisionDetector;
+		osg::Group* root;
+
+		void initStage();
+	public:
+		GameManager();
+		void gameStart();
+		void addMovableObject(MovableObject* mob);
+		void addEyePoint(EyePoint* eye);
+};
+
+#endif
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/GlobalEyePoint.cpp	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,69 @@
+/*
+ *  GlobalEyePoint.cpp
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/28.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#include "GlobalEyePoint.h"
+
+GlobalEyePoint::GlobalEyePoint(char* name) : EyePoint(name) {
+	Tman = new osgGA::TrackballManipulator();
+	offset = osg::Vec3(0,10,-2);
+	direction = osg::Vec3(0, 0, 90);
+}
+
+void GlobalEyePoint::setTarget(MovableObject* _target) {
+	targets.push_back(_target);
+}
+
+void GlobalEyePoint::frame() {
+	osg::Matrixd myCameraMatrix;
+	osg::Matrixd cameraRotation;
+	osg::Matrixd cameraTrans;
+	osg::Matrixd centerTrans;
+
+	std::list<MovableObject*>::iterator iter;
+
+	osg::Vec3 center = osg::Vec3(0,0,0), tmp;
+	float minX, maxX, minY, maxY, minZ, maxZ, length;
+
+	for (iter = targets.begin(); iter != targets.end(); ++iter) {
+		tmp = (*iter)->getPos();
+
+		if (tmp.x() < minX) {
+			minX = tmp.x();
+		} else if (tmp.x() > maxX) {
+			maxX = tmp.x();
+		}
+
+		if (tmp.x() < minY) {
+			minY = tmp.y();
+		} else if (tmp.y() > maxY) {
+			maxY = tmp.y();
+		}
+
+		if (tmp.z() < minZ) {
+			minZ = tmp.z();
+		} else if (tmp.z() > maxZ) {
+			minZ = tmp.z();
+		}
+
+		center += tmp;
+	}
+
+	length = (osg::Vec3(maxX+minX, maxY+minY, maxZ+minZ).length()) * Martial::CONFIG::WINDOW_WIDTH / 500;
+
+	if (length < 10.0) length = 10.0;
+
+	center /= (float)targets.size();
+
+	position = osg::Vec3(center.x(), length, center.z())+offset;
+
+	cameraRotation.makeRotate(direction.z(), osg::Vec3(0,0,1));
+	myCameraMatrix.makeLookAt(position, center, osg::Vec3(0,0,1) * cameraRotation);
+
+	Tman->setByInverseMatrix(myCameraMatrix);
+}
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/GlobalEyePoint.h	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,25 @@
+/*
+ *  GlobalEyePoint.h
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/28.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#ifndef _GLOBAL_EYE_POINT_H_
+#define _GLOBAL_EYE_POINT_H_
+
+#include "EyePoint.h"
+
+class GlobalEyePoint : public EyePoint {
+	protected:
+		std::list<MovableObject*> targets;
+	public:
+		GlobalEyePoint(char* name = "GlobalEyePoint");
+		void setTarget(MovableObject* _target);
+		void frame();
+		void removeTarget(MovableObject* _target);
+};
+
+#endif
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/Humanoid.h	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,55 @@
+/*
+ *  Humanoid.h
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/27.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#ifndef _HUMANOID_H_
+#define _HUMANOID_H_
+
+#include "Avatar.h"
+
+/*!
+    @class		Humanoid
+    @abstract   Avatarの実装。人型のキャラクター
+    @discussion パーツ定義をどうしようか検討中
+*/
+
+
+class Humanoid : public Avatar {
+	protected:
+		osg::Node* humanoidNode;
+		osg::Node* body;
+		osg::Node* leftArm;
+		osg::Node* rightArm;
+		osg::Node* leftLeg;
+		osg::Node* rightLeg;
+		osg::PositionAttitudeTransform* humanoidForm;
+		osg::MatrixTransform* bodyForm;
+		osg::MatrixTransform* headForm;
+		osg::MatrixTransform* leftUpperArmForm;
+		osg::MatrixTransform* rightUpperArmForm;
+		osg::MatrixTransform* leftDownArmForm;
+		osg::MatrixTransform* rightDownArmForm;
+		osg::MatrixTransform* leftUpperLegForm;
+		osg::MatrixTransform* rightUpperLegForm;
+		osg::MatrixTransform* leftDownLegForm;
+		osg::MatrixTransform* rightDownLegForm;
+		float moveCount;
+		virtual void walk() {};
+		virtual void turn() {};
+		virtual void jump() {};
+		virtual void run() {};
+		virtual void squat() {};
+		virtual void down() {};
+		virtual void wait() {};
+		virtual void freeze() {};
+		virtual void stop() {};
+	public:
+		Humanoid(char* name) : Avatar::Avatar(name) {};
+};
+
+#endif
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/KeyboardEventHandler.cpp	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,57 @@
+#include "KeyboardEventHandler.h"
+
+bool KeyboardEventHandler::addFunction (int whatKey, keyStatusType keyPressStatus, functionType newFunction, Player *target) {
+	keyFunctionMap &FuncMap = (keyPressStatus == KEY_DOWN) ? keyFuncMap : keyUPFuncMap;
+
+	if (FuncMap.end() != FuncMap.find(whatKey)) {
+		std::cout << "duplicate key '" << whatKey << "' ignored." << std::endl;
+		return false;
+	}
+	else {
+		FuncMap[whatKey].keyFunction = newFunction;
+		FuncMap[whatKey].target = target;
+		return true;
+	}
+}
+
+bool KeyboardEventHandler::handle(const osgGA::GUIEventAdapter& ea,osgGA::GUIActionAdapter& aa) {
+	bool newKeyDownEvent = false;
+	bool newKeyUpEvent   = false;
+	Player *target;
+	functionType ft;
+
+	switch(ea.getEventType()) {
+		case(osgGA::GUIEventAdapter::KEYDOWN): {
+			keyFunctionMap::iterator itr = keyFuncMap.find(ea.getKey());
+			if (itr != keyFuncMap.end()) {
+				if ( (*itr).second.keyState == KEY_UP ) {
+					(*itr).second.keyState = KEY_DOWN;
+					newKeyDownEvent = true;
+				}
+				if (newKeyDownEvent) {
+					target = (*itr).second.target;
+					ft = (*itr).second.keyFunction;
+					(target->*ft)();
+				}
+				return true;
+			}
+			return false;
+		}
+		case(osgGA::GUIEventAdapter::KEYUP): {
+			keyFunctionMap::iterator itr = keyFuncMap.find(ea.getKey());
+			if (itr != keyFuncMap.end()) {
+				(*itr).second.keyState = KEY_UP;
+			}
+			itr = keyUPFuncMap.find(ea.getKey());
+			if (itr != keyUPFuncMap.end()) {
+				target = (*itr).second.target;
+				ft = (*itr).second.keyFunction;
+				(target->*ft)();
+				return true;
+			}
+			return false;
+		}
+		default:
+			return false;
+	}
+}
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/KeyboardEventHandler.h	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,65 @@
+#ifndef KEYBOARD_HANDLER_H
+#define KEYBOARD_HANDLER_H
+#include <iostream>
+#include <osgGA/GUIEventHandler>
+
+class Player;
+
+/*!
+    @header KeyboardHandler
+    @abstract   Keyboard入力のコールバック関数を司るクラス
+    @discussion Keyboardの入力とPlayer(インターフェース)を実装したクラスの関数のポインタをハッシュで保持
+*/
+
+class KeyboardEventHandler : public osgGA::GUIEventHandler {
+	public:
+
+		/*!　@typedef　functionType　@abstract Playerの仮想関数へのポインタ　*/
+		typedef void (Player::*functionType)();
+
+		/*!
+			@enum		keyStatusType
+			@abstract   Key入力の状態
+			@constant   KEY_UP ボタンを入力
+			@constant   KEY_UP ボタンを解放
+		*/
+		enum keyStatusType {
+			KEY_UP, KEY_DOWN
+		};
+
+		/*!
+		 @function			addFunction
+		 @abstract			コールバック関数の登録
+		 @param whatKey		キー入力の値(ascii)
+		 @param newFunction 登録する関数のポインタ
+ 		 @param target		関数を実行するインスタンス
+		*/
+		bool addFunction(int whatKey, functionType newFunction, Player *player);
+		bool addFunction(int whatKey, keyStatusType keyPressStatus, functionType newFunction, Player *player);
+		virtual bool handle(const osgGA::GUIEventAdapter& ea,osgGA::GUIActionAdapter&);
+		virtual void accept(osgGA::GUIEventHandlerVisitor& v)   { v.visit(*this); };
+
+	protected:
+		/*!
+		 @struct		functionStatusType
+		 @abstract   Playerの関数登録の引数
+		 @field      target 関数を呼び出すPlayerのインスタンス
+		*/
+		struct functionStatusType {
+			functionStatusType() {keyState = KEY_UP; keyFunction = NULL;}
+			functionType keyFunction;
+			keyStatusType keyState;
+			Player* target;
+		};
+
+		/*!　@typedef　keyFunctionMap　@abstract コールバック関数とキー入力のハッシュ　*/
+		typedef std::map<int, functionStatusType> keyFunctionMap;
+
+		/*! @var keyFunctionMap ボタン押し時のコールバック関数のハッシュ */
+		keyFunctionMap keyFuncMap;
+
+		/*! @var keyFunctionMap ボタン押し時のコールバック関数のハッシュ */
+		keyFunctionMap keyUPFuncMap;
+};
+
+#endif
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/Martial.cpp	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,17 @@
+/*
+ *  Martial.cpp
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/28.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#include "Martial.h"
+
+void Martial::TEST::print(char* format, ...) {
+	va_list argptr;
+	va_start(argptr, format);
+	vprintf(format, argptr);
+	va_end(argptr);
+}
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/Martial.h	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,48 @@
+/*
+ *  Martial.h
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/27.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+/*!
+    @header		Martial
+    @abstract   debug, test用の定数を設定
+*/
+
+#ifndef _MARTIAL_H_
+#define _MARTIAL_H_
+
+#include <stdio.h>
+#include <stdarg.h>
+
+namespace Martial {
+
+	namespace CONFIG {
+		/*! @const FRAME_RATE @abstract Frames Per Second */
+		const int FRAME_RATE = 60.0;
+		/*! @const  FRAME_MIN_TIME @abstract Frame毎の処理時間  */
+		const float FRAME_MIN_TIME = 1.0 / FRAME_RATE;
+		/*! @const WINDOW_WIDTH  @abstract Frame毎の処理時間  */
+		const int WINDOW_WIDTH = 1000;
+		/*! @const WINDOW_HEIGHT @abstract Frame毎の処理時間  */
+		const int WINDOW_HEIGHT = 800;
+	}
+
+	namespace TEST {
+		/*! @const SHOW_FPS fpsの表示 (-> GameManager.cpp) */
+		const bool SHOW_FPS = true;
+		/*! @const SHOW_COLLISION 衝突の表示 (-> GameManager.cpp) */
+		const bool SHOW_COLLISION = false;
+		/*! @const SHOW_AVATAR_INPUT Playerから見た入力の表示 */
+		const bool SHOW_PLAYER_INPUT = false;
+		/*! @const SHOW_AVATAR_INPUT Avatarから見た入力の表示 */
+		const bool SHOW_AVATAR_INPUT = false;
+
+		void print(char* format, ...);
+	}
+}
+
+#endif
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/MovableObject.cpp	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,151 @@
+/*
+ *  MovableObject.cpp
+ *  Race
+ *
+ *  Created by ryoma on 10/01/23.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#include "MovableObject.h"
+#include "GameManager.h"
+
+/** MovableObjectのコンストラクタ.
+ * osg::Nodeを描画物体として受け取り、動く物体を生成する
+ * @param _node 描画されるノード, _name ノードの名前
+ */
+
+MovableObject::MovableObject(char* _name) {
+	init();
+	scale = osg::Vec3(1.0,1.0,1.0);
+	defaultDirection = osg::Vec3(0.0,0.0,0.0);
+	name = _name;
+	mform = new osg::MatrixTransform();
+	frame();
+}
+
+MovableObject::MovableObject(osg::Node* _node, char* _name) {
+	init();
+	name = _name;
+	node = _node;
+	mform = new osg::MatrixTransform();
+	mform->addChild(node);
+}
+
+void MovableObject::init() {
+	position = osg::Vec3(0.0,0.0,0.0);
+	velocity = osg::Vec3(0.0,0.0,0.0);
+	acceleration = osg::Vec3(0.0,0.0,0.0);
+	angularVelocity = osg::Vec3(0.0,0.0,0.0);
+	direction = osg::Vec3(0.0,0.0,0.0);
+}
+
+void MovableObject::move(osg::Vec3 s) {
+}
+
+void MovableObject::rotate(osg::Vec3 r) {
+}
+
+void MovableObject::accelerate(osg::Vec3 a) {
+	velocity += a;
+}
+
+void MovableObject::setPos(osg::Vec3 p) {
+	position = p;
+}
+
+void MovableObject::setVel(osg::Vec3 v) {
+	velocity = v;
+}
+
+void MovableObject::setAcc(osg::Vec3 a) {
+	acceleration = a;
+}
+
+void MovableObject::setDir(osg::Vec3 r) {
+	direction = r;
+}
+
+void MovableObject::setDefaultDirection(osg::Vec3 r) {
+	defaultDirection = r;
+}
+
+void MovableObject::setAngularVelocity(osg::Vec3 r) {
+	angularVelocity = r;
+}
+
+void MovableObject::setScale(osg::Vec3 s) {
+	scale = s;
+}
+
+osg::Vec3 MovableObject::getPos() {
+	return position;
+}
+
+osg::Vec3 MovableObject::getVel() {
+	return velocity;
+}
+
+osg::Vec3 MovableObject::getAcc() {
+	return acceleration;
+}
+
+osg::Vec3 MovableObject::getDir() {
+	return direction;
+}
+
+osg::Vec3 MovableObject::getDefaultDirection() {
+	return defaultDirection;
+}
+
+char* MovableObject::getName() {
+	return name;
+}
+
+osg::MatrixTransform* MovableObject::getForm() {
+	return mform;
+}
+
+void MovableObject::dump() {
+}
+
+/* 位置,体勢の再計算のみ */
+void MovableObject::frame() {
+	osg::Matrixd roteMatrix;
+	osg::Matrixd accMatrix;
+	osg::Matrixd dirMatrix;
+
+	direction += angularVelocity;
+	accMatrix.makeTranslate(acceleration);
+	roteMatrix.makeRotate(
+		osg::Quat(
+			defaultDirection.x(), osg::Vec3(1,0,0),
+			defaultDirection.y(), osg::Vec3(0,1,0),
+			defaultDirection.z(), osg::Vec3(0,0,1)
+		)
+	);
+
+	velocity += (accMatrix*roteMatrix).getTrans();
+	position += velocity;
+
+	/* 3Dモデルが元々正面向きのため、90度補正の再計算 */
+	/* 毎回計算が無駄だと思うので、ツール側で補正するべき */
+	/*roteMatrix.makeRotate(
+		osg::Quat(
+			defaultDirection.x()+direction.x(), osg::Vec3(1,0,0),
+			defaultDirection.y()+direction.y(), osg::Vec3(0,1,0),
+			defaultDirection.z()+direction.z(), osg::Vec3(0,0,1)
+		)
+	);*/
+
+	dirMatrix.makeTranslate(position);
+	accMatrix.makeScale(scale);
+	mform->setMatrix(accMatrix*accMatrix*roteMatrix);
+}
+
+void MovableObject::checkCollision() {
+}
+
+void MovableObject::collision(osg::Vec3 pos, osg::Vec3 reaction) {
+
+}
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/MovableObject.h	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,84 @@
+/*
+ *  MovableObject.h
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/23.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+/*!
+    @class		MovableObject
+    @abstract	SceneGraph上の更新が行なわれるオブジェクト
+    @discussion (キャラクタ,弾丸などSceneGraph上のノード)
+*/
+
+#ifndef _MOVABLE_OBJECT_H_
+#define _MOVABLE_OBJECT_H_
+
+class MovableObject {
+	protected:
+		/*! @var name
+			@abstract 物体の名前 */
+		char* name;
+		/*! @var position
+			@abstract 物体の座標 */
+		osg::Vec3 position;
+		/*! @var velocity
+			@abstract 物体の速度 */
+		osg::Vec3 velocity;
+		/*! @var acceleration
+			@abstract 物体の加速度 */
+		osg::Vec3 acceleration;
+		/*! @var angularVelocity
+			@abstract 物体の角速度 */
+		osg::Vec3 angularVelocity;
+		/*! @var direction @abstract
+			物体の向いてる方向(ラジアン) */
+		osg::Vec3 direction;
+		/*! @var defaultDirection
+			@abstract 物体のデフォルトの向き(ラジアン) */
+		osg::Vec3 defaultDirection;
+		/*! @var node
+			@abstract osgで表示するノード */
+		osg::Node* node;
+		/*! @var scale
+			@abstract ノードのレンダリングスケール */
+		osg::Vec3 scale;
+		/*! @var weight
+			@abstract ノードの重量(重力処理、衝突処理で使用?) */
+		osg::Vec3 weight;
+		/*! @var mfrom
+			@abstract osgの描画情報. 位置,スケール,角度を行列で表す */
+		osg::MatrixTransform* mform;
+	public:
+		MovableObject(char* name = "MovableObject");
+		MovableObject(osg::Node* _node = NULL, char* = "MovableObject");
+		void move(osg::Vec3 s);
+		void rotate(osg::Vec3 r);
+		void accelerate(osg::Vec3 a);
+		void setPos(osg::Vec3 p);
+		void setVel(osg::Vec3 v);
+		void setAcc(osg::Vec3 a);
+		void setDir(osg::Vec3 r);
+		void setAngularVelocity(osg::Vec3 r);
+		void setDefaultDirection(osg::Vec3 r);
+		void setScale(osg::Vec3 s);
+		void modifyForm();
+		osg::Vec3 getPos();
+		osg::Vec3 getVel();
+		osg::Vec3 getAcc();
+		osg::Vec3 getDir();
+		osg::Vec3 getDefaultDirection();
+		osg::NodePathList* getNodePath();
+		float getRadius();
+		char* getName();
+		virtual void init();
+		virtual void frame();
+		virtual void checkCollision();
+		virtual void collision(osg::Vec3 pos, osg::Vec3 reaction);
+		virtual osg::MatrixTransform* getForm();
+		virtual void dump();
+};
+
+#endif
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/Player.cpp	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,185 @@
+/*
+ *  Player.cpp
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/27.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#include "Player.h"
+
+void Player::registerKEH(KeyboardEventHandler* keh) {
+	frameFunc = &Player::frameKEY;
+	hatFlag[0] = false;	hatFlag[1] = false;	hatFlag[2] = false;	hatFlag[3] = false;
+	keh->addFunction('i',KeyboardEventHandler::KEY_DOWN, &Player::pushUp, this);
+	keh->addFunction('i',KeyboardEventHandler::KEY_UP,   &Player::releaseUp, this);
+	keh->addFunction(',',KeyboardEventHandler::KEY_DOWN, &Player::pushDown, this);
+	keh->addFunction(',',KeyboardEventHandler::KEY_UP,	 &Player::releaseDown, this);
+	keh->addFunction('j',KeyboardEventHandler::KEY_DOWN, &Player::pushLeft, this);
+	keh->addFunction('j',KeyboardEventHandler::KEY_UP,   &Player::releaseLeft, this);
+	keh->addFunction('l',KeyboardEventHandler::KEY_DOWN, &Player::pushRight, this);
+	keh->addFunction('l',KeyboardEventHandler::KEY_UP,   &Player::releaseRight, this);
+	keh->addFunction('a',KeyboardEventHandler::KEY_DOWN, &Player::pushA, this);
+	keh->addFunction('a',KeyboardEventHandler::KEY_UP,   &Player::releaseA, this);
+	keh->addFunction('b',KeyboardEventHandler::KEY_DOWN, &Player::pushB, this);
+	keh->addFunction('b',KeyboardEventHandler::KEY_UP,	 &Player::releaseB, this);
+	keh->addFunction('c',KeyboardEventHandler::KEY_DOWN, &Player::pushC, this);
+	keh->addFunction('c',KeyboardEventHandler::KEY_UP,   &Player::releaseC, this);
+	keh->addFunction('d',KeyboardEventHandler::KEY_DOWN, &Player::pushD, this);
+	keh->addFunction('d',KeyboardEventHandler::KEY_UP,   &Player::releaseD, this);
+	keh->addFunction('1',KeyboardEventHandler::KEY_DOWN, &Player::push1, this);
+	keh->addFunction('2',KeyboardEventHandler::KEY_DOWN, &Player::push2, this);
+}
+
+void Player::registerJOY(SDL_Joystick* _joy) {
+	frameFunc = &Player::frameJOY;
+	prev = SDL_HAT_CENTERED;
+	joy = _joy;
+}
+
+void Player::frame() {
+	(this->*frameFunc)();
+}
+
+void Player::frameKEY() {
+	if (Martial::TEST::SHOW_PLAYER_INPUT) printf("[%d,%d,%d,%d]\n",hatFlag[0],hatFlag[1],hatFlag[2],hatFlag[3]);
+
+	if (!(hatFlag[PUSH_UP]||hatFlag[PUSH_DOWN]
+		||hatFlag[PUSH_RIGHT]||hatFlag[PUSH_LEFT])) {
+		avatar->releaseHat();
+	}else if (hatFlag[PUSH_RIGHT]) {
+		if (hatFlag[PUSH_LEFT]) {
+			avatar->releaseHat();
+		} else if (hatFlag[PUSH_UP]) {
+			avatar->pushRightUp();
+		} else if (hatFlag[PUSH_DOWN]) {
+			avatar->pushRightDown();
+		} else {
+			avatar->pushRight();
+		}
+	} else if (hatFlag[PUSH_UP]) {
+		if (hatFlag[PUSH_LEFT]) {
+			avatar->pushLeftUp();
+		} else {
+			avatar->pushUp();
+		}
+	} else if (hatFlag[PUSH_DOWN]) {
+		if (hatFlag[PUSH_LEFT]) {
+			avatar->pushLeftDown();
+		} else {
+			avatar->pushDown();
+		}
+	} else {
+		avatar->pushLeft();
+	}
+}
+
+void Player::frameJOY() {
+	printf("opend?, hatNums = %d\n\n", SDL_JoystickOpened(0), SDL_JoystickNumHats(joy));
+	SDL_JoystickUpdate();
+
+	if (SDL_JoystickGetHat(joy, SDL_HAT_CENTERED) == SDL_PRESSED) {
+		puts("center");
+		if (prev != SDL_HAT_CENTERED) {
+			avatar->releaseHat();
+		}
+	} else if (SDL_JoystickGetHat(joy, SDL_HAT_UP) == SDL_PRESSED) {
+		avatar->pushUp();
+	} else if (SDL_JoystickGetHat(joy, SDL_HAT_RIGHT) == SDL_PRESSED) {
+		avatar->pushRight();
+	} else if (SDL_JoystickGetHat(joy, SDL_HAT_DOWN) == SDL_PRESSED) {
+		avatar->pushDown();
+	} else if (SDL_JoystickGetHat(joy, SDL_HAT_LEFT) == SDL_PRESSED) {
+		avatar->pushLeft();
+	} else { puts("unknown"); }
+}
+
+void Player::pushLeft() {
+	hatFlag[PUSH_LEFT] = true;
+}
+
+void Player::releaseLeft() {
+	hatFlag[PUSH_LEFT] = false;
+}
+
+void Player::pushRight() {
+	hatFlag[PUSH_RIGHT] = true;
+}
+
+void Player::releaseRight() {
+	hatFlag[PUSH_RIGHT] = false;
+}
+
+void Player::pushUp() {
+	hatFlag[PUSH_UP] = true;
+}
+
+void Player::releaseUp() {
+	hatFlag[PUSH_UP] = false;
+}
+
+void Player::pushDown() {
+	hatFlag[PUSH_DOWN] = true;
+}
+
+void Player::releaseDown() {
+	hatFlag[PUSH_DOWN] = false;
+}
+
+void Player::pushA() {
+	avatar->pushA();
+}
+
+void Player::releaseA() {
+	avatar->releaseA();
+}
+
+void Player::pushB() {
+	avatar->pushB();
+}
+
+void Player::releaseB() {
+	avatar->releaseB();
+}
+
+void Player::pushC() {
+	avatar->pushC();
+}
+
+void Player::releaseC() {
+	avatar->releaseC();
+}
+
+void Player::pushD() {
+	avatar->pushD();
+}
+
+void Player::releaseD() {
+	avatar->releaseD();
+}
+
+void Player::push1() {
+
+}
+
+void Player::push2() {
+}
+
+void Player::pushRightUp() {
+}
+
+void Player::pushRightDown() {
+}
+
+void Player::pushLeftUp() {
+}
+
+void Player::pushLeftDown() {
+}
+
+void Player::releaseHat() {
+}
+
+void Player::releaseButton() {
+}
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/Player.h	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,91 @@
+/*
+ *  Player.h
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/27.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#ifndef _PLAYER_H_
+#define _PLAYER_H_
+
+#include <SDL/SDL.h>
+#include "Avatar.h"
+#include "EyePoint.h"
+#include "KeyboardEventHandler.h"
+
+/*!
+    @class		Player
+    @abstract   ゲームのキャラクター(Avatar),視点(EyePoint)を操作するPlayer
+				Keyboardからのコールバック関数をhandlerに登録する
+*/
+
+class Player {
+	private:
+		Avatar* avatar;
+		EyePoint* eyePoint;
+		SDL_Joystick* joy;
+		char* name;
+		Uint8 prev;
+		bool hatFlag[4];
+		void (Player::*frameFunc)();
+	public:
+		enum functionIndex {
+			PUSH_UP, PUSH_RIGHT, PUSH_LEFT, PUSH_DOWN,
+			RELEASE_UP, RELEASE_RIGHT, RELEASE_LEFT, RELEASE_DOWN,
+			PUSH_A, PUSH_B, PUSH_C, PUSH_D,
+			RELEASE_A, RELEASE_B, RELEASE_C, RELEASE_D
+		};
+		Player(char* name, Avatar* avatar, EyePoint* eyePoint) :
+			name(name), avatar(avatar), eyePoint(eyePoint), frameFunc(&Player::frameKEY) {};
+		/*!
+			@function   pushLeft(), releaseLeft(), pushRight(), releaseRight(), pushUp(), releaseUp(),
+						pushDown(), releaseDown(), pushA(), releaseA(), pushB(), releaseB(),
+						pushC(), releaseC(), pushD(), releaseD(), push1(), release2(),
+			@abstract   KeyboardEventHanderでHandle設定できるControllableクラスの関数群(インターフェース)
+			@discussion Javaでいう interface (でも、純粋仮想関数ではない。デフォルトではなにもしないように)
+		*/
+		void initHat();
+		void releaseHat();
+		void releaseButton();
+		void pushRightUp();
+		void pushRightDown();
+		void pushLeftUp();
+		void pushLeftDown();
+		void pushLeft();
+		void releaseLeft();
+		void pushRight();
+		void releaseRight();
+		void pushUp();
+		void releaseUp();
+		void pushDown();
+		void releaseDown();
+		void pushA();
+		void releaseA();
+		void pushB();
+		void releaseB();
+		void pushC();
+		void releaseC();
+		void pushD();
+		void releaseD();
+		void push1();
+		void push2();
+
+		/*!
+			@function	getKEH()
+			@param		Martialのコールバックを登録したHandler
+			@abstract   Playerの入力コールバックを登録
+			@discussion 複数プレイヤーで入力が衝突しないようにするには？
+						? 別々のAsciiを割り当てる(PlayerにIDを振る) ?
+						→ いや、そもそもKeybaordじゃ厳しいよね。
+						→ COM Playerはどうしよう？
+		*/
+		void registerKEH(KeyboardEventHandler* keh);
+		void registerJOY(SDL_Joystick* joy);
+		void frame();
+		void frameJOY();
+		void frameKEY();
+};
+
+#endif
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/PlayerEyePoint.cpp	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,48 @@
+/*
+ *  PlayerEyePoint.cpp
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/28.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#include "PlayerEyePoint.h"
+
+PlayerEyePoint::PlayerEyePoint(MovableObject *owner):
+	EyePoint(owner->getName()), owner(owner){
+	position = osg::Vec3(-10,0,2);
+	direction = osg::Vec3(0, 0, 0);
+	target = NULL;
+	relativeRotate = true;
+}
+
+void PlayerEyePoint::setRelativeRotate(bool rr) {
+	relativeRotate = rr;
+}
+
+void PlayerEyePoint::setTarget(MovableObject* _target) {
+	target = _target;
+}
+
+void PlayerEyePoint::setOwner(MovableObject* _owner) {
+	owner = _owner;
+}
+
+void PlayerEyePoint::frame() {
+	osg::Matrixd myCameraMatrix;
+	osg::Matrixd rotation;
+	osg::Matrixd cameraTrans;
+	osg::Matrixd ownerTrans;
+
+	cameraTrans.makeTranslate(position);
+    ownerTrans.makeTranslate(owner->getPos());
+
+	/* if relativeRotate is false, relativeRoate * target->getDir().z() always equals 0 */
+	rotation.makeRotate(relativeRotate*owner->getDir().z()+direction.z(), osg::Vec3(0,0,1));
+
+	myCameraMatrix = cameraTrans * rotation * ownerTrans;
+
+	myCameraMatrix.makeLookAt(myCameraMatrix.getTrans(), owner->getPos(), osg::Vec3(0,0,1) * rotation);
+	Tman->setByInverseMatrix(myCameraMatrix);
+}
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/PlayerEyePoint.h	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,28 @@
+/*
+ *  PlayerEyePoint.h
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/28.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#ifndef _PLAYER_EYE_POINT_H_
+#define _PLAYER_EYE_POINT_H_
+
+#include "EyePoint.h"
+
+class PlayerEyePoint : public EyePoint {
+	protected:
+		MovableObject* owner;
+		MovableObject* target;
+		bool relativeRotate;
+	public:
+		PlayerEyePoint(MovableObject* owner);
+		void frame();
+		void setTarget(MovableObject* target);
+		void setOwner(MovableObject* owner);
+		void setRelativeRotate(bool rr);
+};
+
+#endif
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/Robot.cpp	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,348 @@
+/*
+ *  Robot.cpp
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/23.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#include "Robot.h"
+
+Robot::Robot(char* _name) : Humanoid::Humanoid(_name) {
+	moveCount = 0.0;
+	scale = osg::Vec3(0.01,0.01,0.01);
+
+	humanoidNode = osgDB::readNodeFile("robot.osg");
+	humanoidForm = new osg::PositionAttitudeTransform();
+	humanoidForm->addChild(humanoidNode);
+	mform->addChild(humanoidForm);
+
+	//ノードにアクセス。MatrixTransformをnameで検索(visitor内部で std::map で保持)
+	SearchMatrixTransformVisitor visitor = SearchMatrixTransformVisitor();
+
+	humanoidNode->accept(visitor);
+	bodyForm = visitor.getMatrixTransform("body");
+	leftUpperArmForm = visitor.getMatrixTransform("left_arm1");
+	rightUpperArmForm = visitor.getMatrixTransform("right_arm1");
+	leftDownArmForm = visitor.getMatrixTransform("left_arm2");
+	rightDownArmForm = visitor.getMatrixTransform("right_arm2");
+	leftUpperLegForm = visitor.getMatrixTransform("left_leg1");
+	rightUpperLegForm = visitor.getMatrixTransform("right_leg1");
+	leftDownLegForm = visitor.getMatrixTransform("left_leg2");
+	rightDownLegForm = visitor.getMatrixTransform("right_leg2");
+
+	//衝突判定ノードの追加
+	CollisionNode* collisionNode;
+
+	bodyForm->setMatrix(osg::Matrix());
+
+	collisionNode = new CollisionNode("Body-Node1", new osg::Sphere(osg::Vec3(0, 0, 0), 50));
+	bodyForm->addChild(collisionNode->getGeode());
+	collisionNodeList.push_back(collisionNode);
+	collisionNode = new CollisionNode("Body-Node2", new osg::Sphere(osg::Vec3(0, 0, 60), 50));
+	bodyForm->addChild(collisionNode->getGeode());
+	collisionNodeList.push_back(collisionNode);
+	collisionNode = new CollisionNode("Body-Node3", new osg::Sphere(osg::Vec3(0, 0, -60), 50));
+	bodyForm->addChild(collisionNode->getGeode());
+	collisionNodeList.push_back(collisionNode);
+	collisionNode = new CollisionNode("Left-Arm-Node", new osg::Sphere(osg::Vec3(100, -40, -70), 30));
+	leftUpperArmForm->addChild(collisionNode->getGeode());
+	collisionNodeList.push_back(collisionNode);
+	collisionNode = new CollisionNode("Right-Arm-Node", new osg::Sphere(osg::Vec3(-100, -40, -70), 30));
+	rightUpperArmForm->addChild(collisionNode->getGeode());
+	collisionNodeList.push_back(collisionNode);
+	collisionNode = new CollisionNode("Left-Leg-Node", new osg::Sphere(osg::Vec3(0, 0, 0), 30));
+	leftUpperLegForm->addChild(collisionNode->getGeode());
+	collisionNodeList.push_back(collisionNode);
+	collisionNode = new CollisionNode("Right-Leg-Node", new osg::Sphere(osg::Vec3(0, 0, 0), 30));
+	rightUpperLegForm->addChild(collisionNode->getGeode());
+	collisionNodeList.push_back(collisionNode);
+
+	SearchGeodeVisitor gvisitor = SearchGeodeVisitor();
+
+	gvisitor.setSearchGeodeName("Collision_right_leg1_geode");
+	humanoidNode->accept(gvisitor);
+
+	//std::cout << "getVisitor: result = " << gvisitor.getGeode().getName(); << "\n";
+
+	unWaitFunc = &Robot::nop;
+	funcs[PUSH_LEFT]		= &Robot::walk;
+	funcs[PUSH_RIGHT]		= &Robot::turn;
+	funcs[PUSH_UP]			= &Robot::jump;
+	funcs[PUSH_DOWN]		= &Robot::squat;
+	funcs[PUSH_RIGHTUP]		= &Robot::jump;
+	funcs[PUSH_LEFTUP]		= &Robot::jump;
+	funcs[PUSH_RIGHTDOWN]	= &Robot::walk;
+	funcs[PUSH_LEFTDOWN]	= &Robot::walk;
+	funcs[RELEASE_HAT]		= &Robot::stop;
+	funcs[PUSH_A]			= &Robot::punch;
+	funcs[PUSH_B]			= &Robot::nop;
+	funcs[PUSH_C]			= &Robot::nop;
+	funcs[PUSH_D]			= &Robot::nop;
+	funcs[RELEASE_BUTTON]	= &Robot::stop;
+}
+
+void Robot::releaseHat() {
+	printInput("Class Robot [%s] :: RELEASE-HAT\n", name);
+	(this->*funcs[RELEASE_HAT])();
+}
+
+void Robot::pushLeft() {
+	printInput("Class Robot [%s] :: PUSH-LEFT\n", name);
+	(this->*funcs[PUSH_LEFT])();
+}
+
+void Robot::pushRight() {
+	printInput("Class Robot [%s] :: PUSH-RIGHT\n", name);
+	(this->*funcs[PUSH_RIGHT])();
+}
+
+void Robot::pushUp() {
+	printInput("Class Robot [%s] :: PUSH-UP\n", name);
+	(this->*funcs[PUSH_UP])();
+}
+
+void Robot::pushDown() {
+	printInput("Class Robot [%s] :: PUSH-DOWN\n", name);
+	//(this->*funcs[PUSH_RIGHTDOWN])();
+	(this->*funcs[PUSH_A])();
+}
+
+void Robot::pushRightUp() {
+	printInput("Class Robot [%s] :: PUSH-RIGHT-UP\n", name);
+	(this->*funcs[PUSH_RIGHTUP])();
+}
+void Robot::pushRightDown() {
+	printInput("Class Robot [%s] :: PUSH-RIGHT-DOWN\n", name);
+	(this->*funcs[PUSH_RIGHTDOWN])();
+}
+void Robot::pushLeftUp() {
+	printInput("Class Robot [%s] :: PUSH-LEFT-UP\n", name);
+	(this->*funcs[PUSH_RIGHTUP])();
+}
+
+void Robot::pushLeftDown() {
+	printInput("Class Robot [%s] :: PUSH-LEFT-DOWN\n", name);
+	(this->*funcs[PUSH_LEFTDOWN])();
+}
+
+void Robot::pushA() {
+	printInput("Class Robot [%s] :: PUSH-A\n", name);
+	(this->*funcs[PUSH_A])();
+}
+
+void Robot::releaseA() {
+	printInput("Class Robot [%s] :: RELEASE-A\n", name);
+}
+
+void Robot::pushB() {
+	printInput("Class Robot [%s] :: PUSH-B\n", name);
+	(this->*funcs[PUSH_B])();
+}
+
+void Robot::releaseB() {
+	printInput("Class Robot [%s] :: RELASE-B\n", name);
+}
+
+void Robot::pushC() {
+	printInput("Class Robot [%s] :: PUSH-C\n", name);
+	(this->*funcs[PUSH_C])();
+}
+
+void Robot::releaseC() {
+	printInput("Class Robot [%s] :: RELEASE-C\n", name);
+}
+
+void Robot::pushD() {
+	printInput("Class Robot [%s] :: PUSH-D\n", name);
+	(this->*funcs[PUSH_D])();
+}
+
+void Robot::releaseD() {
+	printInput("Class Robot [%s] :: RELEASE-D\n", name);
+}
+
+void Robot::stackPush() {
+	stack[PUSH_LEFT]		= funcs[PUSH_LEFT];
+	stack[PUSH_RIGHT]		= funcs[PUSH_RIGHT];
+	stack[PUSH_UP]			= funcs[PUSH_UP];
+	stack[PUSH_DOWN]		= funcs[PUSH_DOWN];
+	stack[PUSH_RIGHTUP]		= funcs[PUSH_RIGHTUP];
+	stack[PUSH_LEFTUP]		= funcs[PUSH_LEFTUP];
+	stack[PUSH_RIGHTDOWN]	= funcs[PUSH_RIGHTDOWN];
+	stack[PUSH_LEFTDOWN]	= funcs[PUSH_LEFTDOWN];
+	stack[RELEASE_HAT]		= funcs[RELEASE_HAT];
+	stack[PUSH_A]			= funcs[PUSH_A];
+	stack[PUSH_B]			= funcs[PUSH_B];
+	stack[PUSH_C]			= funcs[PUSH_C];
+	stack[PUSH_D]			= funcs[PUSH_D];
+	stack[RELEASE_BUTTON]	= funcs[RELEASE_BUTTON];
+
+	funcs[PUSH_LEFT]		= &Robot::wait;
+	funcs[PUSH_RIGHT]		= &Robot::wait;
+	funcs[PUSH_UP]			= &Robot::wait;
+	funcs[PUSH_DOWN]		= &Robot::wait;
+	funcs[PUSH_RIGHTUP]		= &Robot::wait;
+	funcs[PUSH_LEFTUP]		= &Robot::wait;
+	funcs[PUSH_RIGHTDOWN]	= &Robot::wait;
+	funcs[PUSH_LEFTDOWN]	= &Robot::wait;
+	funcs[RELEASE_HAT]		= &Robot::wait;
+	funcs[PUSH_A]			= &Robot::wait;
+	funcs[PUSH_B]			= &Robot::wait;
+	funcs[PUSH_C]			= &Robot::wait;
+	funcs[PUSH_D]			= &Robot::wait;
+	funcs[RELEASE_BUTTON]	= &Robot::wait;
+}
+
+void Robot::stackPop() {
+	funcs[PUSH_LEFT]		= stack[PUSH_LEFT];
+	funcs[PUSH_RIGHT]		= stack[PUSH_RIGHT];
+	funcs[PUSH_UP]		= stack[PUSH_UP];
+	funcs[PUSH_DOWN]		= stack[PUSH_DOWN];
+	funcs[PUSH_RIGHTUP]	= stack[PUSH_RIGHTUP];
+	funcs[PUSH_LEFTUP]	= stack[PUSH_LEFTUP];
+	funcs[PUSH_RIGHTDOWN]	= stack[PUSH_RIGHTDOWN];
+	funcs[PUSH_LEFTDOWN]	= stack[PUSH_LEFTDOWN];
+	funcs[RELEASE_HAT]	=	stack[RELEASE_HAT];
+	funcs[PUSH_A]			= stack[PUSH_A];
+	funcs[PUSH_B]			= stack[PUSH_B];
+	funcs[PUSH_C]			= stack[PUSH_C];
+	funcs[PUSH_D]			= stack[PUSH_D];
+	funcs[RELEASE_BUTTON]	= stack[RELEASE_BUTTON];
+}
+
+/*  Robotの各モーションを定義 */
+
+void Robot::punch() {
+	moveCount += 0.5;
+	float sinVal = sin(moveCount);
+	float cosVal = cos(moveCount);
+
+	osg::Matrixd roteMatrix;
+	osg::Matrixd dirMatrix;
+	osg::Matrixd accMatrix;
+	//if(moveCount <= 0.5){
+		bodyForm->setMatrix(osg::Matrixf::rotate(osg::DegreesToRadians(sinVal*10.0), osg::Vec3(0,0,1)));
+		rightUpperArmForm->setMatrix(osg::Matrixf::rotate(osg::DegreesToRadians(sinVal*60.0-90), osg::Vec3(1,0,0)));
+		//rightDownArmForm->setMatrix(osg::Matrixf::rotate(osg::DegreesToRadians(sinVal*60.0-20), osg::Vec3(1,0,0)));
+	//}
+}
+
+void Robot::walk() {
+	velocity = osg::Vec3(0.5*avatarDirection,0,0);
+	moveCount += (float)avatarDirection * 0.5;
+	float sinVal = sin(moveCount);
+	float cosVal = cos(moveCount);
+
+	setPos(osg::Vec3(position.x(), position.y(), position.z()+cos(moveCount)*0.01));
+
+	osg::Matrixd roteMatrix;
+	osg::Matrixd dirMatrix;
+	osg::Matrixd accMatrix;
+
+	//positionAttitudeMatrix.setAttitude();での演算にくらべると、倍高速?
+	bodyForm->setMatrix(osg::Matrixf::rotate(osg::DegreesToRadians(sinVal*10.0), osg::Vec3(0,0,1)));
+	leftUpperArmForm->setMatrix(osg::Matrixf::rotate(osg::DegreesToRadians(sinVal*30.0+10), osg::Vec3(1,0,0)));
+	//rightUpperArmForm->setMatrix(osg::Matrixf::rotate(osg::DegreesToRadians(sinVal*-30.0+10), osg::Vec3(1,0,0)));
+	leftUpperLegForm->setMatrix(osg::Matrixf::rotate(osg::DegreesToRadians(sinVal*-45.0), osg::Vec3(1,0,0)));
+	rightUpperLegForm->setMatrix(osg::Matrixf::rotate(osg::DegreesToRadians(sinVal*45.0), osg::Vec3(1,0,0)));
+
+}
+
+void Robot::turn() {
+	angularVelocity = osg::Vec3(0,0,osg::DegreesToRadians(180.0/10.0));
+	motionTime = 10;
+	avatarDirection *= -1;
+	void (Robot::*tmp)() = funcs[PUSH_LEFT];
+	funcs[PUSH_LEFT] = funcs[PUSH_RIGHT];
+	funcs[PUSH_RIGHT] = tmp;
+	stackPush();
+	unWaitFunc = &Robot::stop;
+	wait();
+}
+
+void Robot::jump() {
+	funcs[PUSH_UP] = &Robot::nop;
+	funcs[PUSH_RIGHTUP] = &Robot::nop;
+	funcs[PUSH_LEFTUP] = &Robot::nop;
+	velocity = osg::Vec3(velocity.x(), velocity.y(), 4);
+	acceleration = osg::Vec3(acceleration.x(), acceleration.y(), -0.3);
+}
+
+void Robot::stop() {
+	moveCount = 0;
+	motionTime = 0;
+	velocity = osg::Vec3(0,0,0);
+	angularVelocity = osg::Vec3(0,0,0);
+}
+
+void Robot::wait() {
+	if ((--motionTime) < 0) {
+		(this->*unWaitFunc)();
+		unWaitFunc = &Robot::nop;
+		stackPop();
+	}
+}
+
+//以下、未実装
+
+void Robot:: run() {};
+void Robot:: squat() {};
+void Robot:: down() {};
+void Robot:: freeze() {};
+
+void Robot::frame() {
+	update();
+}
+
+void Robot::update() {
+
+	//[当たり判定の処理] - 未実装,ただ判定を消すだけ
+	std::list<CollisionNode*>::iterator iter;
+	for (iter = collisionNodeList.begin(); iter != collisionNodeList.end(); ++iter) {
+		(*iter)->setCollision(false);
+	}
+
+	osg::Matrixd roteMatrix;
+	osg::Matrixd dirMatrix;
+	osg::Matrixd accMatrix;
+
+	direction += angularVelocity;
+	velocity  += acceleration;
+
+	accMatrix.makeTranslate(acceleration);
+	roteMatrix.makeRotate(
+		osg::Quat(
+			direction.x(), osg::Vec3(1,0,0),
+			direction.y(), osg::Vec3(0,1,0),
+			direction.z(), osg::Vec3(0,0,1)
+		)
+	);
+
+	velocity += (accMatrix*roteMatrix).getTrans();
+	position += velocity;
+
+	// 地面を抜けた場合
+	if (position.z() < 0) {
+		position.z() = 0;
+		funcs[PUSH_UP] = &Robot::jump;
+		funcs[PUSH_RIGHTUP] = &Robot::jump;
+		funcs[PUSH_LEFTUP] = &Robot::jump;
+		velocity = osg::Vec3(velocity.x(), velocity.y(), 0);
+		acceleration = osg::Vec3(acceleration.x(), acceleration.y(), 0);
+	}
+
+	accMatrix.makeTranslate(acceleration);
+	roteMatrix.makeRotate(
+		osg::Quat(
+			defaultDirection.x()+direction.x(), osg::Vec3(1,0,0),
+			defaultDirection.y()+direction.y(), osg::Vec3(0,1,0),
+			defaultDirection.z()+direction.z(), osg::Vec3(0,0,1)
+		)
+	);
+
+	dirMatrix.makeTranslate(position);
+	accMatrix.makeScale(scale);
+	mform->setMatrix(accMatrix*roteMatrix*dirMatrix);
+}
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/Robot.cpp.orig	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,231 @@
+/*
+ *  Robot.cpp
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/23.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#include "Robot.h"
+
+Robot::Robot(char* _name) : Character::Character(_name) {
+	name = _name;
+	moveCount = 0.0;
+	moveFlag = 0;
+
+	reloadFunc = &Robot::reload;
+
+	RobotNode = new osg::Group();
+	body = osgDB::readNodeFile("robot_body.osg");
+
+	leftArm = osgDB::readNodeFile("robot_l_arm.osg");
+	rightArm = osgDB::readNodeFile("robot_r_arm.osg");
+	leftLeg = osgDB::readNodeFile("robot_l_leg.osg");
+	rightLeg = osgDB::readNodeFile("robot_r_leg.osg");
+
+//	SearchMatrixTransformVisitor* visitor = new SearchMatrixTransformVisitor("Mesh133004__Black_");
+//	body->accept(*visitor);
+//	hoge = visitor->getMatrixTransform();
+
+	if( hoge != NULL ) {
+		std::cout << "Success!! Matrix name is [" << hoge->getName() << "]\n";
+	} else {
+		puts("False......");
+	}
+
+	bodyForm = new osg::PositionAttitudeTransform();
+	leftArmForm = new osg::PositionAttitudeTransform();
+	rightArmForm = new osg::PositionAttitudeTransform();
+	leftLegForm = new osg::PositionAttitudeTransform();
+	rightLegForm = new osg::PositionAttitudeTransform();
+
+	//ロボットの組み立て
+
+	bodyForm->addChild(body);
+	leftArmForm->addChild(leftArm);
+	rightArmForm->addChild(rightArm);
+	leftLegForm->addChild(leftLeg);
+	rightLegForm->addChild(rightLeg);
+
+	mform->addChild(bodyForm);
+	bodyForm->addChild(leftArmForm);
+	bodyForm->addChild(rightArmForm);
+	bodyForm->addChild(leftLegForm);
+	bodyForm->addChild(rightLegForm);
+
+	//微調整。 ここはモデリングツールでやろうよ。。まじで。。
+
+	bodyForm->setPosition(osg::Vec3(0.0,0.0,1.5));
+	leftArmForm->setPosition(osg::Vec3(0.5,-0.3,0.2));
+	rightArmForm->setPosition(osg::Vec3(-0.5,-0.3,0.2));
+	leftLegForm->setPosition(osg::Vec3(0.2,0,-1.2));
+	rightLegForm->setPosition(osg::Vec3(-0.2,0,-1.2));
+
+	//衝突判定ノードの追加
+
+	CollisionNode* collisionNode = new CollisionNode("Body-Node", new osg::Cylinder(osg::Vec3(0, 0, 0), 0.4, 2.5));
+	bodyForm->addChild(collisionNode->getNode());
+	collisionNodeList.push_back(collisionNode);
+
+	collisionNode = new CollisionNode("Left-Arm-Node", new osg::Sphere(osg::Vec3(0, 0, 0), 0.3));
+	leftArmForm->addChild(collisionNode->getNode());
+	collisionNodeList.push_back(collisionNode);
+
+	collisionNode = new CollisionNode("Right-Arm-Node", new osg::Sphere(osg::Vec3(0, 0, 0), 0.3));
+	rightArmForm->addChild(collisionNode->getNode());
+	collisionNodeList.push_back(collisionNode);
+
+	collisionNode = new CollisionNode("Left-Leg-Node", new osg::Sphere(osg::Vec3(0, 0, 0), 0.3));
+	leftLegForm->addChild(collisionNode->getNode());
+	collisionNodeList.push_back(collisionNode);
+
+	collisionNode = new CollisionNode("Right-Leg-Node", new osg::Sphere(osg::Vec3(0, 0, 0), 0.3));
+	rightLegForm->addChild(collisionNode->getNode());
+	collisionNodeList.push_back(collisionNode);
+
+	reload();
+}
+
+void Robot::pushLeft() {
+	printf("Class Robott [%s] :: PUSH-LEFT\n", name);
+	moveFlag = 1;
+	setVel(osg::Vec3(1.0,0.0,0.0));
+}
+
+void Robot::releaseLeft() {
+	printf("Class Robott [%s] :: RELEASE-LEFT\n", name);
+	moveFlag = 0;
+	setVel(osg::Vec3(0,0.0,0.0));
+}
+
+void Robot::pushRight() {
+	printf("Class Robott [%s] :: PUSH-RIGHT\n", name);
+	moveFlag = 1;
+	setVel(osg::Vec3(-1.0,0.0,0.0));
+}
+
+void Robot::releaseRight() {
+	printf("Class Robott [%s] :: RELASE-RIGHT\n", name);
+	moveFlag = 0;
+	setVel(osg::Vec3(0,0.0,0.0));
+}
+
+void Robot::pushUp() {
+	printf("Class Robott [%s] :: PUSH-UP\n", name);
+}
+
+void Robot::releaseUp() {
+	printf("Class Robott [%s] :: RELEASE-UP\n", name);
+}
+
+void Robot::pushDown() {
+	printf("Class Robott [%s] :: PUSH-DOWN\n", name);
+}
+
+void Robot::releaseDown() {
+	printf("Class Robott [%s] :: RELEASE-DOWN\n", name);
+}
+
+
+
+void Robot::pushA() {
+	printf("Class Robott [%s] :: PUSH-A\n", name);
+	moveFlag = 1;
+	setVel(osg::Vec3(1.0,0.0,0.0));
+}
+
+void Robot::releaseA() {
+	printf("Class Robott [%s] :: RELEASE-A\n", name);
+	moveFlag = 0;
+	setVel(osg::Vec3(0,0.0,0.0));
+}
+
+void Robot::pushB() {
+	printf("Class Robott [%s] :: PUSH-B\n", name);
+	turn();
+}
+
+void Robot::releaseB() {
+	printf("Class Robott [%s] :: RELASE-B\n", name);
+	moveFlag = 0;
+	setVel(osg::Vec3(0,0.0,0.0));
+}
+
+void Robot::pushC() {
+	printf("Class Robott [%s] :: PUSH-C\n", name);
+}
+
+void Robot::releaseC() {
+	printf("Class Robott [%s] :: RELEASE-C\n", name);
+}
+
+void Robot::pushD() {
+	printf("Class Robott [%s] :: PUSH-D\n", name);
+}
+
+void Robot::releaseD() {
+	printf("Class Robott [%s] :: RELEASE-D\n", name);
+}
+
+void Robot::walk() {
+	printf("walk");
+	moveFlag = 1;
+	setVel(osg::Vec3(-5.0,0.0,0.0));
+}
+
+void Robot::turn() {
+	angularVelocity = osg::Vec3(angularVelocity.x(), angularVelocity.y(), 0.1);
+}
+
+void Robot::stop() {
+	velocity = osg::Vec3(0,0,0);
+	angularVelocity = osg::Vec3(0,0,0);
+}
+
+
+void Robot::reload() {
+	moveCount += (float)moveFlag * 0.5;
+	float sinVal = sin(moveCount);
+	float cosVal = cos(moveCount);
+
+	if (moveFlag != 0) setPos(osg::Vec3(position.x(), position.y(), position.z()+cos(moveCount)*0.01));
+
+	bodyForm->setAttitude(osg::Quat(osg::DegreesToRadians(sinVal*10.0), osg::Vec3(0,0,1)));
+	leftArmForm->setAttitude(osg::Quat(osg::DegreesToRadians(sinVal*30.0+10.0), osg::Vec3(1,0,0)));
+	rightArmForm->setAttitude(osg::Quat(osg::DegreesToRadians(-sinVal*30.0+10.0), osg::Vec3(1,0,0)));
+	leftLegForm->setAttitude(osg::Quat(osg::DegreesToRadians(-sinVal*45.0), osg::Vec3(1,0,0)));
+	rightLegForm->setAttitude(osg::Quat(osg::DegreesToRadians(sinVal*45.0), osg::Vec3(1,0,0)));
+
+	//位置の再計算は親クラスのreloadと一緒なのでまかせたい..けどなぜかできない
+	// Character::reload(); (MovableObject::reload())
+	osg::Matrixd roteMatrix;
+	osg::Matrixd dirMatrix;
+	osg::Matrixd accMatrix;
+
+	direction += angularVelocity;
+	accMatrix.makeTranslate(acceleration);
+	roteMatrix.makeRotate(
+		osg::Quat(
+			direction.x(), osg::Vec3(1,0,0),
+			direction.y(), osg::Vec3(0,1,0),
+			direction.z(), osg::Vec3(0,0,1)
+		)
+	);
+
+	velocity += (accMatrix*roteMatrix).getTrans();
+	position += velocity;
+
+	accMatrix.makeTranslate(acceleration);
+	roteMatrix.makeRotate(
+		osg::Quat(
+			defaultDirection.x()+direction.x(), osg::Vec3(1,0,0),
+			defaultDirection.y()+direction.y(), osg::Vec3(0,1,0),
+			defaultDirection.z()+direction.z(), osg::Vec3(0,0,1)
+		)
+	);
+
+	dirMatrix.makeTranslate(position);
+	accMatrix.makeScale(scale);
+	mform->setMatrix(accMatrix*roteMatrix*dirMatrix);
+}
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/Robot.h	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,57 @@
+/*
+ *  Robot.h
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/23.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#ifndef _ROBOT_H_
+#define _ROBOT_H_
+
+#include "Humanoid.h"
+
+class Robot : public Humanoid {
+	protected:
+		void (Robot::*funcs[14])();
+		void (Robot::*stack[14])();
+		void (Robot::*frameFunc)();
+		void (Robot::*unWaitFunc)();
+		virtual void walk();
+		virtual void turn();
+		virtual void jump();
+		void punch();
+		virtual void run();
+		virtual void squat();
+		virtual void down();
+		virtual void wait();
+		virtual void freeze();
+		virtual void stop();
+		virtual void update();
+		virtual void stackPush();
+		virtual void stackPop();
+		virtual void nop() {}; //none operation
+	public:
+		Robot(char* _name = "Robot");
+		virtual void frame();
+		virtual void releaseHat();
+		virtual void pushRight();
+		virtual void pushLeft();
+		virtual void pushUp();
+		virtual void pushDown();
+		virtual void pushRightUp();
+		virtual void pushRightDown();
+		virtual void pushLeftUp();
+		virtual void pushLeftDown();
+		virtual void pushA();
+		virtual void releaseA();
+		virtual void pushB();
+		virtual void releaseB();
+		virtual void pushC();
+		virtual void releaseC();
+		virtual void pushD();
+		virtual void releaseD();
+};
+
+#endif
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/SDLMain.h	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,16 @@
+/*   SDLMain.m - main entry point for our Cocoa-ized SDL app
+       Initial Version: Darrell Walisser <dwaliss1@purdue.edu>
+       Non-NIB-Code & other changes: Max Horn <max@quendi.de>
+
+    Feel free to customize this file to suit your needs
+*/
+
+#ifndef _SDLMain_h_
+#define _SDLMain_h_
+
+#import <Cocoa/Cocoa.h>
+
+@interface SDLMain : NSObject
+@end
+
+#endif /* _SDLMain_h_ */
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/SDLMain.m	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,383 @@
+/*   SDLMain.m - main entry point for our Cocoa-ized SDL app
+       Initial Version: Darrell Walisser <dwaliss1@purdue.edu>
+       Non-NIB-Code & other changes: Max Horn <max@quendi.de>
+
+    Feel free to customize this file to suit your needs
+*/
+
+#include <SDL/SDL.h>
+#include "SDLMain.h"
+#include <sys/param.h> /* for MAXPATHLEN */
+#include <unistd.h>
+
+/* For some reaon, Apple removed setAppleMenu from the headers in 10.4,
+ but the method still is there and works. To avoid warnings, we declare
+ it ourselves here. */
+@interface NSApplication(SDL_Missing_Methods)
+- (void)setAppleMenu:(NSMenu *)menu;
+@end
+
+/* Use this flag to determine whether we use SDLMain.nib or not */
+#define		SDL_USE_NIB_FILE	0
+
+/* Use this flag to determine whether we use CPS (docking) or not */
+#define		SDL_USE_CPS		1
+#ifdef SDL_USE_CPS
+/* Portions of CPS.h */
+typedef struct CPSProcessSerNum
+{
+	UInt32		lo;
+	UInt32		hi;
+} CPSProcessSerNum;
+
+extern OSErr	CPSGetCurrentProcess( CPSProcessSerNum *psn);
+extern OSErr 	CPSEnableForegroundOperation( CPSProcessSerNum *psn, UInt32 _arg2, UInt32 _arg3, UInt32 _arg4, UInt32 _arg5);
+extern OSErr	CPSSetFrontProcess( CPSProcessSerNum *psn);
+
+#endif /* SDL_USE_CPS */
+
+static int    gArgc;
+static char  **gArgv;
+static BOOL   gFinderLaunch;
+static BOOL   gCalledAppMainline = FALSE;
+
+static NSString *getApplicationName(void)
+{
+    const NSDictionary *dict;
+    NSString *appName = 0;
+
+    /* Determine the application name */
+    dict = (const NSDictionary *)CFBundleGetInfoDictionary(CFBundleGetMainBundle());
+    if (dict)
+        appName = [dict objectForKey: @"CFBundleName"];
+
+    if (![appName length])
+        appName = [[NSProcessInfo processInfo] processName];
+
+    return appName;
+}
+
+#if SDL_USE_NIB_FILE
+/* A helper category for NSString */
+@interface NSString (ReplaceSubString)
+- (NSString *)stringByReplacingRange:(NSRange)aRange with:(NSString *)aString;
+@end
+#endif
+
+@interface SDLApplication : NSApplication
+@end
+
+@implementation SDLApplication
+/* Invoked from the Quit menu item */
+- (void)terminate:(id)sender
+{
+    /* Post a SDL_QUIT event */
+    SDL_Event event;
+    event.type = SDL_QUIT;
+    SDL_PushEvent(&event);
+}
+@end
+
+/* The main class of the application, the application's delegate */
+@implementation SDLMain
+
+/* Set the working directory to the .app's parent directory */
+- (void) setupWorkingDirectory:(BOOL)shouldChdir
+{
+    if (shouldChdir)
+    {
+        char parentdir[MAXPATHLEN];
+        CFURLRef url = CFBundleCopyBundleURL(CFBundleGetMainBundle());
+        CFURLRef url2 = CFURLCreateCopyDeletingLastPathComponent(0, url);
+        if (CFURLGetFileSystemRepresentation(url2, 1, (UInt8 *)parentdir, MAXPATHLEN)) {
+            chdir(parentdir);   /* chdir to the binary app's parent */
+        }
+        CFRelease(url);
+        CFRelease(url2);
+    }
+}
+
+#if SDL_USE_NIB_FILE
+
+/* Fix menu to contain the real app name instead of "SDL App" */
+- (void)fixMenu:(NSMenu *)aMenu withAppName:(NSString *)appName
+{
+    NSRange aRange;
+    NSEnumerator *enumerator;
+    NSMenuItem *menuItem;
+
+    aRange = [[aMenu title] rangeOfString:@"SDL App"];
+    if (aRange.length != 0)
+        [aMenu setTitle: [[aMenu title] stringByReplacingRange:aRange with:appName]];
+
+    enumerator = [[aMenu itemArray] objectEnumerator];
+    while ((menuItem = [enumerator nextObject]))
+    {
+        aRange = [[menuItem title] rangeOfString:@"SDL App"];
+        if (aRange.length != 0)
+            [menuItem setTitle: [[menuItem title] stringByReplacingRange:aRange with:appName]];
+        if ([menuItem hasSubmenu])
+            [self fixMenu:[menuItem submenu] withAppName:appName];
+    }
+    [ aMenu sizeToFit ];
+}
+
+#else
+
+static void setApplicationMenu(void)
+{
+    /* warning: this code is very odd */
+    NSMenu *appleMenu;
+    NSMenuItem *menuItem;
+    NSString *title;
+    NSString *appName;
+
+    appName = getApplicationName();
+    appleMenu = [[NSMenu alloc] initWithTitle:@""];
+
+    /* Add menu items */
+    title = [@"About " stringByAppendingString:appName];
+    [appleMenu addItemWithTitle:title action:@selector(orderFrontStandardAboutPanel:) keyEquivalent:@""];
+
+    [appleMenu addItem:[NSMenuItem separatorItem]];
+
+    title = [@"Hide " stringByAppendingString:appName];
+    [appleMenu addItemWithTitle:title action:@selector(hide:) keyEquivalent:@"h"];
+
+    menuItem = (NSMenuItem *)[appleMenu addItemWithTitle:@"Hide Others" action:@selector(hideOtherApplications:) keyEquivalent:@"h"];
+    [menuItem setKeyEquivalentModifierMask:(NSAlternateKeyMask|NSCommandKeyMask)];
+
+    [appleMenu addItemWithTitle:@"Show All" action:@selector(unhideAllApplications:) keyEquivalent:@""];
+
+    [appleMenu addItem:[NSMenuItem separatorItem]];
+
+    title = [@"Quit " stringByAppendingString:appName];
+    [appleMenu addItemWithTitle:title action:@selector(terminate:) keyEquivalent:@"q"];
+
+
+    /* Put menu into the menubar */
+    menuItem = [[NSMenuItem alloc] initWithTitle:@"" action:nil keyEquivalent:@""];
+    [menuItem setSubmenu:appleMenu];
+    [[NSApp mainMenu] addItem:menuItem];
+
+    /* Tell the application object that this is now the application menu */
+    [NSApp setAppleMenu:appleMenu];
+
+    /* Finally give up our references to the objects */
+    [appleMenu release];
+    [menuItem release];
+}
+
+/* Create a window menu */
+static void setupWindowMenu(void)
+{
+    NSMenu      *windowMenu;
+    NSMenuItem  *windowMenuItem;
+    NSMenuItem  *menuItem;
+
+    windowMenu = [[NSMenu alloc] initWithTitle:@"Window"];
+
+    /* "Minimize" item */
+    menuItem = [[NSMenuItem alloc] initWithTitle:@"Minimize" action:@selector(performMiniaturize:) keyEquivalent:@"m"];
+    [windowMenu addItem:menuItem];
+    [menuItem release];
+
+    /* Put menu into the menubar */
+    windowMenuItem = [[NSMenuItem alloc] initWithTitle:@"Window" action:nil keyEquivalent:@""];
+    [windowMenuItem setSubmenu:windowMenu];
+    [[NSApp mainMenu] addItem:windowMenuItem];
+
+    /* Tell the application object that this is now the window menu */
+    [NSApp setWindowsMenu:windowMenu];
+
+    /* Finally give up our references to the objects */
+    [windowMenu release];
+    [windowMenuItem release];
+}
+
+/* Replacement for NSApplicationMain */
+static void CustomApplicationMain (int argc, char **argv)
+{
+    NSAutoreleasePool	*pool = [[NSAutoreleasePool alloc] init];
+    SDLMain				*sdlMain;
+
+    /* Ensure the application object is initialised */
+    [SDLApplication sharedApplication];
+
+#ifdef SDL_USE_CPS
+    {
+        CPSProcessSerNum PSN;
+        /* Tell the dock about us */
+        if (!CPSGetCurrentProcess(&PSN))
+            if (!CPSEnableForegroundOperation(&PSN,0x03,0x3C,0x2C,0x1103))
+                if (!CPSSetFrontProcess(&PSN))
+                    [SDLApplication sharedApplication];
+    }
+#endif /* SDL_USE_CPS */
+
+    /* Set up the menubar */
+    [NSApp setMainMenu:[[NSMenu alloc] init]];
+    setApplicationMenu();
+    setupWindowMenu();
+
+    /* Create SDLMain and make it the app delegate */
+    sdlMain = [[SDLMain alloc] init];
+    [NSApp setDelegate:sdlMain];
+
+    /* Start the main event loop */
+    [NSApp run];
+
+    [sdlMain release];
+    [pool release];
+}
+
+#endif
+
+
+/*
+ * Catch document open requests...this lets us notice files when the app
+ *  was launched by double-clicking a document, or when a document was
+ *  dragged/dropped on the app's icon. You need to have a
+ *  CFBundleDocumentsType section in your Info.plist to get this message,
+ *  apparently.
+ *
+ * Files are added to gArgv, so to the app, they'll look like command line
+ *  arguments. Previously, apps launched from the finder had nothing but
+ *  an argv[0].
+ *
+ * This message may be received multiple times to open several docs on launch.
+ *
+ * This message is ignored once the app's mainline has been called.
+ */
+- (BOOL)application:(NSApplication *)theApplication openFile:(NSString *)filename
+{
+    const char *temparg;
+    size_t arglen;
+    char *arg;
+    char **newargv;
+
+    if (!gFinderLaunch)  /* MacOS is passing command line args. */
+        return FALSE;
+
+    if (gCalledAppMainline)  /* app has started, ignore this document. */
+        return FALSE;
+
+    temparg = [filename UTF8String];
+    arglen = SDL_strlen(temparg) + 1;
+    arg = (char *) SDL_malloc(arglen);
+    if (arg == NULL)
+        return FALSE;
+
+    newargv = (char **) realloc(gArgv, sizeof (char *) * (gArgc + 2));
+    if (newargv == NULL)
+    {
+        SDL_free(arg);
+        return FALSE;
+    }
+    gArgv = newargv;
+
+    SDL_strlcpy(arg, temparg, arglen);
+    gArgv[gArgc++] = arg;
+    gArgv[gArgc] = NULL;
+    return TRUE;
+}
+
+
+/* Called when the internal event loop has just started running */
+- (void) applicationDidFinishLaunching: (NSNotification *) note
+{
+    int status;
+
+    /* Set the working directory to the .app's parent directory */
+    [self setupWorkingDirectory:gFinderLaunch];
+
+#if SDL_USE_NIB_FILE
+    /* Set the main menu to contain the real app name instead of "SDL App" */
+    [self fixMenu:[NSApp mainMenu] withAppName:getApplicationName()];
+#endif
+
+    /* Hand off to main application code */
+    gCalledAppMainline = TRUE;
+    status = SDL_main (gArgc, gArgv);
+
+    /* We're done, thank you for playing */
+    exit(status);
+}
+@end
+
+
+@implementation NSString (ReplaceSubString)
+
+- (NSString *)stringByReplacingRange:(NSRange)aRange with:(NSString *)aString
+{
+    unsigned int bufferSize;
+    unsigned int selfLen = [self length];
+    unsigned int aStringLen = [aString length];
+    unichar *buffer;
+    NSRange localRange;
+    NSString *result;
+
+    bufferSize = selfLen + aStringLen - aRange.length;
+    buffer = (unichar *)NSAllocateMemoryPages(bufferSize*sizeof(unichar));
+
+    /* Get first part into buffer */
+    localRange.location = 0;
+    localRange.length = aRange.location;
+    [self getCharacters:buffer range:localRange];
+
+    /* Get middle part into buffer */
+    localRange.location = 0;
+    localRange.length = aStringLen;
+    [aString getCharacters:(buffer+aRange.location) range:localRange];
+
+    /* Get last part into buffer */
+    localRange.location = aRange.location + aRange.length;
+    localRange.length = selfLen - localRange.location;
+    [self getCharacters:(buffer+aRange.location+aStringLen) range:localRange];
+
+    /* Build output string */
+    result = [NSString stringWithCharacters:buffer length:bufferSize];
+
+    NSDeallocateMemoryPages(buffer, bufferSize);
+
+    return result;
+}
+
+@end
+
+
+
+#ifdef main
+#  undef main
+#endif
+
+
+/* Main entry point to executable - should *not* be SDL_main! */
+int main (int argc, char **argv)
+{
+    /* Copy the arguments into a global variable */
+    /* This is passed if we are launched by double-clicking */
+    if ( argc >= 2 && strncmp (argv[1], "-psn", 4) == 0 ) {
+        gArgv = (char **) SDL_malloc(sizeof (char *) * 2);
+        gArgv[0] = argv[0];
+        gArgv[1] = NULL;
+        gArgc = 1;
+        gFinderLaunch = YES;
+    } else {
+        int i;
+        gArgc = argc;
+        gArgv = (char **) SDL_malloc(sizeof (char *) * (argc+1));
+        for (i = 0; i <= argc; i++)
+            gArgv[i] = argv[i];
+        gFinderLaunch = NO;
+    }
+
+#if SDL_USE_NIB_FILE
+    [SDLApplication poseAsClass:[NSApplication class]];
+    NSApplicationMain (argc, argv);
+#else
+    CustomApplicationMain (argc, argv);
+#endif
+    return 0;
+}
+
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/SearchGeodeVisitor.cpp	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,29 @@
+/*
+ *  SearchGeodeVisitor.cpp
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/31.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#include "SearchGeodeVisitor.h"
+
+void SearchGeodeVisitor::apply(osg::Geode& Geode) {
+	//ここでつまづいた。 char* と std::string の比較はfalse
+	if (Geode.getName() == targetGeodeName) {
+		std::cout << "success geode!!\n";
+		targetGeode = &Geode;
+	} else {
+		std::cout << "false " << Geode.getName() << "\n";
+		traverse(Geode);
+	}
+}
+
+void SearchGeodeVisitor::setSearchGeodeName(const std::string &_targetGeodeName) {
+	targetGeodeName = _targetGeodeName;
+}
+
+osg::Geode* SearchGeodeVisitor::getGeode() {
+	return targetGeode;
+}
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/SearchGeodeVisitor.h	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,27 @@
+/*
+ *  SearchGeodeVisitor.h
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/31.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#ifndef _SEARCH_GEODE_VISITORS_
+#define _SEARCH_GEODE_VISITORS_
+
+class SearchGeodeVisitor : public osg::NodeVisitor {
+	protected:
+		std::string targetGeodeName;
+		osg::Geode* targetGeode;
+	public:
+		SearchGeodeVisitor(const std::string &targetGeodeName = "UNKNOWN") :
+		osg::NodeVisitor(osg::NodeVisitor::TRAVERSE_ALL_CHILDREN),
+		targetGeodeName(targetGeodeName), targetGeode(NULL) {};
+
+	void apply(osg::Geode& geode);
+	void setSearchGeodeName(const std::string &_targetGeodeName);
+	osg::Geode* getGeode();
+};
+
+#endif
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/SearchMatrixTransformVisitor.cpp	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,20 @@
+/*
+ *  FinderNodeVisitor.cpp
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/26.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#include "SearchMatrixTransformVisitor.h"
+
+void SearchMatrixTransformVisitor::apply(osg::MatrixTransform& matrixTransform) {
+	//Hashで保持
+	matrixMap[matrixTransform.getName()] = &matrixTransform;
+	traverse(matrixTransform);
+}
+
+osg::MatrixTransform* SearchMatrixTransformVisitor::getMatrixTransform(const std::string &name) {
+	return matrixMap[name];
+}
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/SearchMatrixTransformVisitor.h	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,24 @@
+/*
+ *  FinderNodeVisitor.h
+ *  Martial
+ *
+ *  Created by ryoma on 10/01/26.
+ *  Copyright 2010 琉球大学. All rights reserved.
+ *
+ */
+
+#ifndef _SEARCH_MATRIX_VISITORS_
+#define _SEARCH_MATRIX_VISITORS_
+
+class SearchMatrixTransformVisitor : public osg::NodeVisitor {
+	protected:
+		std::map<std::string, osg::MatrixTransform*> matrixMap;
+		std::string targetMatrixTransformName;
+	public:
+		SearchMatrixTransformVisitor() : osg::NodeVisitor(osg::NodeVisitor::TRAVERSE_ALL_CHILDREN) {};
+
+	void apply(osg::MatrixTransform& matrix);
+	osg::MatrixTransform* getMatrixTransform(const std::string& name);
+};
+
+#endif
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/main.cpp	Wed Feb 03 03:39:04 2010 +0900
@@ -0,0 +1,7 @@
+#include "GameManager.h"
+
+int main(int /*argc*/, char** /*argv*/) {
+	GameManager* martial = new GameManager();
+	martial->gameStart();
+	return 0;
+}