Irrlicht Engine

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// Irrlicht
	#include <irrlicht.h>

	using namespace irr;

	using namespace core;
	using namespace scene;
	using namespace video;
	using namespace io;
	using namespace gui;


	#ifdef _IRR_WINDOWS_
		#pragma comment(lib, "Irrlicht.lib")
		#pragma comment(linker, "/subsystem:windows /ENTRY:mainCRTStartup")
	#endif


// MAIN

int main()
{
	// create Irrlicht device
		IrrlichtDevice* device = createDevice( video::EDT_OPENGL, dimension2d<s32>(800, 600), 32,
				false, false);

		if (device == 0)
			return 1; // could not create selected driver.

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

	// create camera
		smgr->addCameraSceneNodeFPS(0, 100.0f, .1f);

	// Load Char
		IAnimatedMesh* CharMesh = smgr->getMesh("../../media/dwarf.X");
		if (!CharMesh) return 1;

		IAnimatedMeshSceneNode* CharNode = smgr->addAnimatedMeshSceneNode( CharMesh );
		if (!CharNode) return 1;

	// Initilise
		CharNode->setMaterialFlag(EMF_LIGHTING, false);
		CharNode->setAnimationSpeed(10);

	// Prepare for Joint Control
		CharNode->setJointMode(EJUOR_CONTROL); //To write positions to the mesh on render



	int lastFPS = -1;


	f32 headRotation = 0;
	f32 headPosition = 0;


	while(device->run())
	{

	// Animate character manually
		CharNode->animateJoints();


	// Get the Joint you want to MANIPULATE, and its Parent
		IBoneSceneNode* thisJoint = CharNode->getJointNode("head");

		if( thisJoint )
		{
			ISceneNode* parentJoint = thisJoint->getParent();

			if( parentJoint )
			{
			// Get the default (animated) Joint's position and rotation
				vector3df jointPos = thisJoint->getAbsolutePosition();
				vector3df jointRot = thisJoint->getAbsoluteTransformation().getRotationDegrees();

			// Get the absolute INVERSE Transformation matrix of the parent
				matrix4 iparentTransform = parentJoint->getAbsoluteTransformation();
					iparentTransform.makeInverse();

			// Set the Absolute Position or Rotation of the Joint without fear!
				vector3df newJointPos = jointPos + vector3df( 0, 1+(sin(headPosition)*2), 0 );
				vector3df newJointRot = vector3df( 0, headRotation, 0 );

			// Transform the Position by the Parent's Inverse matrix before applying it
				iparentTransform.transformVect( newJointPos );	

			// APPLY
				thisJoint->setPosition( newJointPos );
				thisJoint->setRotation( newJointRot );
			}
		}


	// funny
		headPosition += 0.01f;
		if( headPosition > 2*PI ){ headPosition -= 0; }

		headRotation += 0.5f;
		if( headRotation > 360 ){ headRotation -= 360; }


	// do Irrlicht stuff

		driver->beginScene(true, true, video::SColor(255,113,113,133));

		smgr->drawAll(); // draw the 3d scene
		device->getGUIEnvironment()->drawAll(); // draw the gui environment (the logo)

		driver->endScene();

		int fps = driver->getFPS();

		if (lastFPS != fps)
		{
			core::stringw tmp(L"fmx's funny dwarf head joint manipulation demo! [");
			tmp += driver->getName();
			tmp += L"] fps: ";
			tmp += fps;

			device->setWindowCaption(tmp.c_str());
			lastFPS = fps;
		}
	}


	// show cursor
	//	device->getCursorControl()->setVisible(true);



	device->drop();
	
	return 0;
}

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if( headPosition > 2*PI ){ headPosition -= 0; }