Irrlicht Engine

i look at help and found "better" solution: i change getPosition() in the first line to getAbsolutePosition() and it works now i have in cr world position

cr = node6->getAbsolutePosition();
x4=cr.X;
y4=cr.Y;
z4=cr.Z;

I've done it like this, but it doesn't help
cr = node6->getPosition();
x4=cr.X;
y4=cr.Y;
z4=cr.Z;

if (z10 > 0)
a = -1;
else
if (z10 < 0)
a = 1;
else a=0;


cosfi1=(x4)/sqrt((x4)*(x4) + (z4)*(z4));
cosfi2=(x10)/sqrt((x10)*(x10) + (z10)*(z10));

if (cosfi1>cosfi2)
OmegY = a * DeltOmeg ...

here is main loop:

while(Device->run() && driver)
if (Device->isWindowActive())
{
driver->beginScene(true, true, video::SColor(150,50,50,50));
pv = node->getPosition();
pv1 = node3->getPosition();
pv2 = node8->getPosition();
pv3 = node5->getPosition();
pv4 = node6->getPosition();
pv10 ...