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I smashed enemies, collected the cubes, but it didn't crash :'( 

Any links to this Avena Game Engine?  I'd love to explore PS2 dev myself :)

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Avena Engine is my engine it's not public as of now, but there are other ps2 game engines that are public one very well known one is Tyra Engine and AthenaENV, you can take a look at those,

Avena engine will become public in the near future tho if you want to wait for that as well

I'll look into those options, thanks!  Might wait.  Also hoping devs find ways to boot off of unmodded PS2s.  Don't know why FreeDVDBoot isn't being used.  I know one group who is aware of it and doesn't use it.

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if FreeDVDBoot every takes off and works on all models the ps2 will get just as good as Dreamcast when releasing games for sale 

i too am waiting but until then i'll try to release an actual big game for Dreamcast instead

Can you upload some download instructions? I downloaded PCSX2 and put the file in the correct place, but it's asking for the BIO now which I'm unsure how to get.

that's related to PCSX2 not the game, the BIOS its asking for is the 'PS2 BIOS' which you can dump from your PS2 or find in various illegal ways

I got  Sony PlayStation 2 BIOS (E)(v2.0)(2004-11-04)[SCPH50003]  from https://www.emu-land.net/en/consoles/ps2/bios

extracted into the bios direct.

Start the DVD iso, the PS2 will go through a small setup then start the game demo.