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Use GLFW only if irrlicht is compiled with SDL #1119

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merged 2 commits into from
Oct 3, 2023
Merged

Use GLFW only if irrlicht is compiled with SDL #1119

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6c51ff8
Avoid to use GLFW to create the Viz window on Linux.
S-Dafarra Sep 26, 2023
5e57ec9
If irrlicht is compiled with SDL, use SDL also on Linux
S-Dafarra Sep 26, 2023
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71 changes: 53 additions & 18 deletions src/visualization/src/Visualizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,13 @@
#include <windows.h>
#endif

#if defined(_IRR_COMPILE_WITH_SDL_DEVICE_) || defined(_WIN32) || defined(__APPLE__)
#if (defined(_WIN32) || defined(__APPLE__)) && !defined(_IRR_COMPILE_WITH_SDL_DEVICE_)
#error "On Windows and MacOS it is necessary to use Irrlicht with SDL"
#endif
#define IDYNTREE_USE_GLFW_WINDOW
#endif

#endif

#include "DummyImplementations.h"
Expand Down Expand Up @@ -126,6 +133,7 @@ struct Visualizer::VisualizerPimpl

#ifdef IDYNTREE_USES_IRRLICHT

#ifdef IDYNTREE_USE_GLFW_WINDOW
/**
* Custom window object
*/
Expand All @@ -139,6 +147,7 @@ struct Visualizer::VisualizerPimpl
id m_windowId;
#elif defined(__linux__)
Window m_windowId;
#endif
#endif

/**
Expand Down Expand Up @@ -238,6 +247,7 @@ struct Visualizer::VisualizerPimpl
m_palette["meshcat"].vector = irr::video::SColor(255,253,98,2);
}

#ifdef IDYNTREE_USE_GLFW_WINDOW
void cursorPositionCallback(GLFWwindow* window, double xpos, double ypos)
{
if (window != m_window)
Expand Down Expand Up @@ -375,6 +385,7 @@ struct Visualizer::VisualizerPimpl
{
static_cast<Visualizer::VisualizerPimpl*>(glfwGetWindowUserPointer(window))->scrollCallback(window, xoffset, yoffset);
}
#endif

#else
DummyCamera m_camera;
Expand All @@ -399,7 +410,7 @@ struct Visualizer::VisualizerPimpl
}
};

#ifdef IDYNTREE_USES_IRRLICHT
#ifdef IDYNTREE_USE_GLFW_WINDOW

unsigned int Visualizer::VisualizerPimpl::m_glfwInstances = 0;

Expand Down Expand Up @@ -441,6 +452,9 @@ bool Visualizer::init(const VisualizerOptions &visualizerOptions)
// initialize the color palette
pimpl->initializePalette();

irr::SIrrlichtCreationParameters irrDevParams;

#ifdef IDYNTREE_USE_GLFW_WINDOW
if (pimpl->m_glfwInstances == 0)
{
if (!glfwInit()) {
Expand All @@ -461,21 +475,6 @@ bool Visualizer::init(const VisualizerOptions &visualizerOptions)
glfwMakeContextCurrent(pimpl->m_window);
glfwSwapInterval(1);

irr::SIrrlichtCreationParameters irrDevParams;

// If we are on Windows, only SDL works with the external window
#if defined(_WIN32) || defined(__APPLE__)
#ifndef _IRR_COMPILE_WITH_SDL_DEVICE_
#error "On Windows and MacOS it is necessary to use Irrlicht with SDL"
#endif
irrDevParams.DeviceType = irr::EIDT_SDL;
#endif

irrDevParams.DriverType = irr::video::EDT_OPENGL;
irrDevParams.WindowSize = irr::core::dimension2d<irr::u32>(visualizerOptions.winWidth, visualizerOptions.winHeight);
irrDevParams.WithAlphaChannel = true;
irrDevParams.AntiAlias = 4;

#if defined(_WIN32)
pimpl->m_windowId = glfwGetWin32Window(pimpl->m_window);
irrDevParams.WindowId = (void*)(pimpl->m_windowId);
Expand All @@ -487,6 +486,13 @@ bool Visualizer::init(const VisualizerOptions &visualizerOptions)
irrDevParams.WindowId = (void*)(pimpl->m_windowId);
#endif

irrDevParams.DeviceType = irr::EIDT_SDL;
#endif

irrDevParams.DriverType = irr::video::EDT_OPENGL;
irrDevParams.WindowSize = irr::core::dimension2d<irr::u32>(visualizerOptions.winWidth, visualizerOptions.winHeight);
irrDevParams.WithAlphaChannel = true;
irrDevParams.AntiAlias = 4;

if( visualizerOptions.verbose )
{
Expand Down Expand Up @@ -555,10 +561,12 @@ bool Visualizer::init(const VisualizerOptions &visualizerOptions)

pimpl->m_textures.init(pimpl->m_irrDriver, pimpl->m_irrSmgr);

#ifdef IDYNTREE_USE_GLFW_WINDOW
glfwSetWindowUserPointer(pimpl->m_window, pimpl);
glfwSetCursorPosCallback(pimpl->m_window, VisualizerPimpl::cursor_position_callback);
glfwSetMouseButtonCallback(pimpl->m_window, VisualizerPimpl::mouse_button_callback);
glfwSetScrollCallback(pimpl->m_window, VisualizerPimpl::scroll_callback);
#endif

pimpl->m_isInitialized = true;
pimpl->lastFPS = -1;
Expand Down Expand Up @@ -667,7 +675,9 @@ void Visualizer::draw()
return;
}

#ifdef IDYNTREE_USE_GLFW_WINDOW
glfwMakeContextCurrent(pimpl->m_window);
#endif

pimpl->m_irrDriver->beginScene(true,true, pimpl->m_environment.m_backgroundColor.toSColor(), pimpl->m_irrVideoData);

Expand All @@ -685,9 +695,11 @@ void Visualizer::draw()
pimpl->m_irrDriver->endScene();
pimpl->m_subDrawStarted = false;

#ifdef IDYNTREE_USE_GLFW_WINDOW
glfwSwapBuffers(pimpl->m_window);

glfwPollEvents();
#endif

int fps = pimpl->m_irrDriver->getFPS();

Expand All @@ -701,7 +713,9 @@ void Visualizer::draw()
irr::core::stringc strc(str);

pimpl->m_irrDevice->setWindowCaption(str.c_str());
#ifdef IDYNTREE_USE_GLFW_WINDOW
glfwSetWindowTitle(pimpl->m_window, strc.c_str());
#endif
pimpl->lastFPS = fps;
}

Expand Down Expand Up @@ -739,7 +753,9 @@ void Visualizer::subDraw(int xOffsetFromTopLeft, int yOffsetFromTopLeft, int sub
bool clearTextureBuffers = false;
if (!pimpl->m_subDrawStarted)
{
#ifdef IDYNTREE_USE_GLFW_WINDOW
glfwMakeContextCurrent(pimpl->m_window);
#endif
pimpl->m_irrDriver->beginScene(true,true, pimpl->m_environment.m_backgroundColor.toSColor(), pimpl->m_irrVideoData);
pimpl->m_subDrawStarted = true;
clearTextureBuffers = true;
Expand Down Expand Up @@ -907,11 +923,15 @@ int Visualizer::width() const
reportError("Visualizer","width","Visualizer not initialized.");
return 0;
}

#ifdef IDYNTREE_USE_GLFW_WINDOW
GLint ww, wh;
glfwGetWindowSize(pimpl->m_window, &ww, &wh);

return ww;
#else
auto winDimensions = pimpl->m_irrDriver->getScreenSize();
return winDimensions.Width;
#endif
#else
return 0;
#endif
Expand All @@ -926,9 +946,15 @@ int Visualizer::height() const
return 0;
}

#ifdef IDYNTREE_USE_GLFW_WINDOW
GLint ww, wh;
glfwGetWindowSize(pimpl->m_window, &ww, &wh);

return wh;
#else
auto winDimensions = pimpl->m_irrDriver->getScreenSize();
return winDimensions.Height;
#endif
#else
return 0;
#endif
Expand All @@ -942,8 +968,13 @@ bool Visualizer::run()
reportError("Visualizer","run","Impossible to run not initialized visualizer");
return false;
}
bool shouldClose = false;

#ifdef IDYNTREE_USE_GLFW_WINDOW
shouldClose = glfwWindowShouldClose(pimpl->m_window);
#endif

return pimpl->m_irrDevice->run() && !glfwWindowShouldClose(pimpl->m_window);
return pimpl->m_irrDevice->run() && !shouldClose;
#else
reportError("Visualizer","run","Impossible to use iDynTree::Visualizer, as iDynTree has been compiled without Irrlicht.");
return false;
Expand All @@ -957,7 +988,9 @@ void Visualizer::close()
{
return;
}
#ifdef IDYNTREE_USE_GLFW_WINDOW
glfwMakeContextCurrent(pimpl->m_window);
#endif

pimpl->m_vectors.close();
pimpl->m_frames.close();
Expand All @@ -979,6 +1012,7 @@ void Visualizer::close()

pimpl->m_modelViz.resize(0);

#ifdef IDYNTREE_USE_GLFW_WINDOW
if (pimpl->m_window)
{
glfwMakeContextCurrent(pimpl->m_window);
Expand All @@ -992,6 +1026,7 @@ void Visualizer::close()

pimpl->m_window = nullptr;
}
#endif

return;
#endif
Expand Down
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