http://www.irrlicht3d.org/wiki/index.php?n=Main.IrrlichtEngineWiki

http://www.irrlicht3d.org/

http://irrlicht.sourceforge.net/

1: Download irrlicht engine from: http://irrlicht.svn.sourceforge.net/viewvc/irrlicht/branches/ogl-es/
2: Create a new window base iphone app, add include and source folder into the project. add include in the include search path in xcode.
3: Add Foundation CoreGraphic OpenGLES QuartzCore UIKit framework in to the project.
3.1: delete all the error file from project when you build the project
4: Pass the UIWindow or UIView pointer to windowID, then Create a irrlicht device.
5: Use irrlicht engine render scene.