function main(gl,sgroot, w, h){
    //xmlを読む
    sgroot.createFromXMLfile(gl, sgroot, "./xml/human.xml");
    sgroot.createFromXMLfile(gl, sgroot, "./xml/gap_plane_test.xml");
    sgroot.createFromXMLfile(gl, sgroot, "./xml/obj.xml");
    sgroot.createFromXMLfile(gl, sgroot,"./xml/tukareta.xml");
    sgroot.createFromXMLfile(gl, sgroot,"./xml/hiyoko_kari.xml");
    
    //rootの作成
    var root = new sgroot.createSceneGraph3();
    root.set_move_collision(no_move_idle, no_collision_idle);
    
    //mapの作成
    var map = createMapFromXMLfile(gl,sgroot,"./xml/map1_forest_joincolor.xml");
    root.addChild(map);
    
    //オブジェクトの作成
    var walk_man = createHuman(sgroot, w, h);
    move_length = 0;
    
    var combat_plane = createPlane(sgroot, w, h);
    
    //オブジェクトをシーングラフ化
    root.addChild(combat_plane);
    
    //カメラとか（マダ
    sgroot.setCamera(sgroot, root);
    sgroot.setSceneData(root);
    
    
    //return sgroot;
}

no_move_idle = function(){
}

no_collision_idle = function(){
}


collision_b = function(map,q0,dx,dz,r,flag){
    var delta = new Array(dx,dz);
    for(i=0;i < map.length/4;i=i+1){
	var p0 = new Array(map[(i*4)+0],map[(i*4)+1]);
	var p1 = new Array(map[(i*4)+2],map[(i*4)+3]);
	var ap = new Array(p1[0] - p0[0],p1[1] - p0[1]);
	var a  = ap[0]*ap[0] + ap[1]*ap[1];
	var ab = new Array(p1[0]-p0[0],p1[1]-p0[1]);
	var ap = new Array(p0[0]-q0[0],p0[1]-q0[1]);
	var c  = ( ab[0] * ap[1] - ab[1] * ap[0] );
	var b  = (p1[0]-p0[0])*(p0[0]-q0[0]) + (p1[1]-p0[1])*(p0[1]-q0[1])
	var t =  -(b / a);
	if(0<=t && t<=1 && c > 0){
	    tp = new Array(p0[0]+(p1[0]-p0[0])*t,p0[1]+(p1[1]-p0[1])*t);
	    d2 = (q0[0]-tp[0])*(q0[0]-tp[0]) + (q0[1]-tp[1])*(q0[1]-tp[1]);
	    //console.log(tp);
	    if(d2 - r*r < 0){
		n = new Array(tp[0]-q0[0],tp[1]-q0[1]);
		nlen = 1.0/Math.abs(((tp[0]-q0[0])*(tp[0]-q0[0]))+((tp[1]-q0[1])*(tp[1]-q0[1])));
		delta[0] -= n[0]*nlen*flag;
		delta[1] -= n[1]*nlen*flag;
	    }
	}
    }
    return delta;
}

jump_move = function(node, sgroot, w, h){
	var jump = -6.0;
	var g = 0.98;
	var t = node.time;
	var height = jump*t + (g * t * t);
	if(height > -5){
		position_xyz[1] = -5;
		aim_xyz[1] = -5;
		node.time = 0;
		node.set_move_collision(body_move,body_collision);
	}else{
		position_xyz[1] = height;
		aim_xyz[1] = height;
	}

	node.time += 0.1;
}


earth_move = function(node, sgroot, w, h){
	node.angle[0] += 1
}

test_move = function(node, sgroot, w, h){
	//node.angle[1] += 1;
}