diff --git a/Makefile b/Makefile
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--- /dev/null
+++ b/Makefile
@@ -0,0 +1,26 @@
+IRRLICHT_PATH = /home/andrey/irrlicht-1.8.4
+
+CPPFLAGS += -I$(IRRLICHT_PATH)/include -I/usr/X11R6/include
+
+ifndef NDEBUG
+	CXXFLAGS += -g -Wall 
+else
+	CXXFLAGS += -O3
+endif
+
+CXXFLAGS += -std=c++17
+
+LIBS += -L$(IRRLICHT_PATH)/lib/Linux -lIrrlicht -L/usr/X11R6/lib64 -lGL -lXxf86vm -lXext -lX11
+
+TARGET = balance_wheel
+
+.PHONY : all clean
+
+all : clean $(TARGET)
+
+$(TARGET) : 
+	g++ $(CPPFLAGS) $(CXXFLAGS) main.cpp -o $(TARGET) $(LIBS)
+
+clean : 
+	rm -f $(TARGET).o
+	rm -f $(TARGET)
diff --git a/balance_wheel b/balance_wheel
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index 0000000..b22438c
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diff --git a/main.cpp b/main.cpp
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index 0000000..cb714b5
--- /dev/null
+++ b/main.cpp
@@ -0,0 +1,308 @@
+#include <irrlicht.h>
+#include <iostream>
+#include <cmath>
+
+using namespace std;
+using namespace irr;
+
+namespace irr
+{
+	namespace core
+	{
+		typedef vector3df position3df;
+	}
+}
+
+struct BalanceWheelParams
+{
+	const f32 gravity = -9.8;
+	f32 original_len = 40.f;
+	f32 mass = 1.f;
+	f32 elasticity = 1000.f;
+	f32 friction_coef = 0.00f;
+	f32 string_friction_coef = 50.0f;
+	const f32 original_start_ang = 30.f;  // in degrees
+	const core::position3df pos = core::position3df(0.f, 0.f, 0.f);
+	const core::vector3df scale = core::vector3df(0.5, 1.f, 1.f);
+	const f32 radius = 5.f;
+	const f32 original_vel = 0.f;
+};
+
+/*class AppEventReceiver : public IEventReceiver
+{
+public:
+	AppEventReceiver() : isEscPressed(false), isMouseWheelChanged(false), wheel(0.f), pressed_btn(nullptr)
+	{	
+	}
+	
+	virtual bool OnEvent(const SEvent& event) override
+	{
+		std::cout << (event.EventType == EET_GUI_EVENT) << std::endl;
+		if (event.EventType == EET_KEY_INPUT_EVENT &&
+			event.KeyInput.Key == KEY_ESCAPE &&
+			event.KeyInput.PressedDown
+		)
+			isEscPressed = true;
+		else if (event.EventType == EET_MOUSE_INPUT_EVENT)
+			if (event.MouseInput.Event == EMIE_MOUSE_WHEEL)
+			{
+				isMouseWheelChanged = true;
+				wheel = event.MouseInput.Wheel;
+			}
+		else if (event.EventType == EET_GUI_EVENT)
+		{
+			std::cout << "GUI Event Type: " << event.GUIEvent.EventType << std::endl;
+			if (event.GUIEvent.EventType == gui::EGET_BUTTON_CLICKED)
+				std::cout << "GUI Event Type: " << event.GUIEvent.EventType << std::endl;
+				pressed_btn = event.GUIEvent.Element;
+				if (pressed_btn == nullptr)
+					std::cout << "pressed_btn is nullptr" << std::endl;
+		}
+			
+		return false;
+	}
+	
+	bool isEscPressed;
+	bool isMouseWheelChanged;
+	f32 wheel;
+	gui::IGUIElement* pressed_btn;
+};*/
+
+class AppEventReceiver : public IEventReceiver
+{
+public:
+	AppEventReceiver() : isEscPressed(false)
+	{
+	}
+	
+	virtual bool OnEvent(const SEvent& event)
+	{
+		if (event.EventType == EET_KEY_INPUT_EVENT &&
+			event.KeyInput.Key == KEY_ESCAPE &&
+			event.KeyInput.PressedDown
+		)
+		{
+			isEscPressed = true;
+		}
+		else if (event.EventType == EET_MOUSE_INPUT_EVENT)
+			if (event.MouseInput.Event == EMIE_MOUSE_WHEEL)
+			{
+				isMouseWheelChanged = true;
+				wheel = event.MouseInput.Wheel;
+			}
+		
+		return false;
+	}
+	
+	bool isEscPressed;
+	bool isMouseWheelChanged;
+	f32 wheel;
+};
+
+void createExitDialogueWindow(gui::IGUIEnvironment* env)
+{
+	if (env == nullptr)
+		return;
+	
+	gui::IGUISkin* skin = env->getSkin();
+	skin->setColor(gui::EGDC_3D_DARK_SHADOW, video::SColor(255, 255, 255, 255));
+	core::recti exit_w_rect(core::position2di(256, 192), core::dimension2di(512, 384));
+	gui::IGUIWindow* exit_w = env->addWindow(exit_w_rect, true, 0, 0, 1);
+	
+	if (exit_w == nullptr)
+	{
+		std::cout << "The exit window fails to be created!" << std::endl;
+		return;
+	}
+	
+	gui::IGUIButton* cbut = env->addButton(core::recti(
+		core::position2di(512/2-128, 384/2-384/4-64), core::dimension2di(2*128, 64)
+	), exit_w, 2, L"Continue");
+	
+	if (cbut == nullptr)
+	{
+		std::cout << "The continue button fails to be created!" << std::endl;
+		return;
+	}
+	
+	cbut->updateAbsolutePosition();
+	
+	gui::IGUIButton* exit_but = env->addButton(core::recti(
+		core::position2di(512/2-128, 384/2+384/4-64), core::dimension2di(2*128, 64)
+	), exit_w, 3, L"Exit");
+	
+	if (exit_but == nullptr)
+	{
+		std::cout << "The exit button fails to be created!" << std::endl;
+		return;
+	}
+	
+	exit_but->updateAbsolutePosition();
+}
+
+int main()
+{
+	IrrlichtDevice* device = createDevice(video::EDT_OPENGL, core::dimension2du(1024, 768), 32, false);
+	
+	if (device == nullptr)
+	{
+		std::cout << "The device fails to be created!" << std::endl;
+		return 1;
+	}
+	
+	scene::ISceneManager* smgr = device->getSceneManager();
+	video::IVideoDriver* vdrv = device->getVideoDriver();
+	io::IFileSystem* fsys = device->getFileSystem();
+	
+	AppEventReceiver receiver;
+	device->setEventReceiver(&receiver);
+	
+	BalanceWheelParams params;
+	
+	core::position3df end(
+		params.original_len*std::sin(core::degToRad(params.original_start_ang)),
+		-params.original_len*std::cos(core::degToRad(params.original_start_ang)),
+		0.f
+	);
+	
+	core::line3df beam(params.pos, params.pos + end);
+	
+	std::cout << "end: X: " << end.X << ", Y: " << end.Y << ", Z: " << end.Z << std::endl;
+	std::cout << "beam.end: X: " << beam.end.X << ", Y: " << beam.end.Y << ", Z: " << beam.end.Z << std::endl;
+	scene::IMeshSceneNode* bal_wheel = smgr->addSphereSceneNode(params.radius, 32, 0, 1);
+	
+	if (bal_wheel == nullptr)
+	{
+		std::cout << "The balance wheel fails to be created!" << std::endl;
+		return 1;
+	}
+	
+	bal_wheel->setPosition(beam.end);
+	bal_wheel->setScale(params.scale);
+	bal_wheel->setRotation(core::vector3df(0.f, 0.f, params.original_start_ang));
+	
+	video::SMaterial material;
+	material.MaterialType = video::EMT_LIGHTMAP_LIGHTING;
+	material.AntiAliasing = true;
+	material.Lighting = true;
+	
+	bal_wheel->getMaterial(0) = material;
+	bal_wheel->setMaterialFlag(video::EMF_NORMALIZE_NORMALS, true);
+	bal_wheel->setMaterialTexture(0, vdrv->getTexture(fsys->getAbsolutePath("./textures/wood5.jpeg")));
+	
+	bal_wheel->addShadowVolumeSceneNode();
+	smgr->setShadowColor(video::SColor(150,0,0,0));
+	
+	scene::IMeshSceneNode* platform = smgr->addMeshSceneNode(
+		smgr->getMesh(fsys->getAbsolutePath("./models/stone_square.b3d")),
+		0, 2
+	);
+	
+	if (platform == nullptr)
+	{
+		std::cout << "The platform fails to be created!" << std::endl;
+		return 1;
+	}
+	
+	platform->setPosition(core::position3df(params.pos.X, params.pos.Y - params.original_len - params.radius - 3.f, 0.f));
+	platform->getMaterial(0) = material;
+	platform->setMaterialTexture(0, vdrv->getTexture(fsys->getAbsolutePath("./textures/stone2.jpg")));
+	platform->addShadowVolumeSceneNode();
+	
+	scene::ILightSceneNode* light = smgr->addLightSceneNode(0, core::position3df(params.pos.X + 10.f, params.pos.Y, 0.f), video::SColorf(255.f, 255.f, 255.f, 255.f), 50.f, 3);
+	scene::ICameraSceneNode* camera = smgr->addCameraSceneNodeFPS(0, 100.f, 0.5f, 4);
+	camera->setPosition(core::position3df(0.f, params.pos.Y+10.f, 30.f));
+	
+	if (light == nullptr)
+	{
+		std::cout << "The light fails to be created!" << std::endl;
+		return 1;
+	}
+	
+	f32 cam_offset_dist = 2.5f;
+	
+	core::vector3df cur_vel(params.original_vel);
+	core::position3df cur_rel_pos(end);
+	while(device->run())
+	{
+		if (device->isWindowActive())
+		{
+			if (receiver.isEscPressed)
+			{
+				device->closeDevice();
+				/*createExitDialogueWindow(device->getGUIEnvironment());
+				receiver.isEscPressed = false;*/
+			}
+			else if (receiver.isMouseWheelChanged)
+			{
+				core::vector3df cur_target = camera->getTarget();
+				core::vector3df cur_pos = camera->getPosition();
+				core::vector3df rel_target = cur_target - cur_pos;
+				
+				s16 sign = receiver.wheel/std::fabs(receiver.wheel);
+				
+				if (sign > 0)
+					std::cout << "Camera has offset forward" << std::endl;
+				else if (sign < 0)
+					std::cout << "Camera has offset backward" << std::endl;
+				
+				core::vector3df cam_offset = rel_target.normalize()*(f32)sign*cam_offset_dist;
+				
+				core::vector3df new_pos = cur_pos + cam_offset;
+				camera->setPosition(new_pos);
+				
+				receiver.isMouseWheelChanged = false;
+				receiver.wheel = 0.f;
+			}
+			/*else if (receiver.pressed_btn != nullptr)
+			{
+				std::cout << "The button is clicked!" << std::endl;
+				s32 id = receiver.pressed_btn->getID();
+				
+				if (id == 2)
+				{
+					gui::IGUIElement* exit_wnd = receiver.pressed_btn->getParent();
+					exit_wnd->drop();
+				}
+				else if (id == 3)
+					device->closeDevice();
+				
+				receiver.pressed_btn = nullptr;
+			}*/
+							
+			core::vector3df elastic_force = cur_rel_pos/(-cur_rel_pos.getLength()) * params.elasticity * (cur_rel_pos.getLength() - params.original_len);
+			core::vector3df friction_force = -cur_vel*params.friction_coef;
+			f32 pos_len_sqr = cur_rel_pos.dotProduct(cur_rel_pos);
+			core::vector3df string_friction_force;
+			if (std::fabs(pos_len_sqr) > 0.01)
+				string_friction_force = -(cur_vel.dotProduct(cur_rel_pos))/(pos_len_sqr)*cur_rel_pos/std::sqrt(std::fabs(pos_len_sqr))*params.string_friction_coef;
+			core::vector3df res_force = core::vector3df(0.0f, params.gravity*params.mass, 0.0f) + elastic_force + friction_force + string_friction_force;
+			
+			cur_rel_pos += cur_vel*0.001;
+			
+			cur_vel += res_force*0.001/params.mass;
+			
+			
+			bal_wheel->setPosition(params.pos + cur_rel_pos);
+			
+			vdrv->beginScene(true, true, video::SColor(0, 0, 0, 255));
+			vdrv->setTransform(video::ETS_WORLD, core::IdentityMatrix);
+			vdrv->draw3DLine(beam.start, params.pos + cur_rel_pos, video::SColor(255, 255, 255, 255));
+			smgr->drawAll();
+			device->getGUIEnvironment()->drawAll();
+			vdrv->endScene();
+			
+			core::stringw caption = L"[Irrlicht Engine] Balance Wheel Demo [";
+			caption += vdrv->getName();
+			caption += "; FPS: ";
+			caption += vdrv->getFPS();
+			caption += "]";
+			
+			device->setWindowCaption(caption.c_str());
+		}
+	}
+	
+	device->drop();
+	
+	return 0;
+}
diff --git a/models/balance_wheel.b3d b/models/balance_wheel.b3d
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diff --git a/models/balance_wheel.blend b/models/balance_wheel.blend
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diff --git a/textures/default_stone.png b/textures/default_stone.png
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diff --git a/textures/wood.png b/textures/wood.png
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diff --git a/textures/wood5.jpeg b/textures/wood5.jpeg
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