redgpu/bullet: Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

examples/OpenGLWindow/X11OpenGLWindow.cpp
1 196 строк32 KB
David CARLIER
Fix openglwindows example build on netbsd. (#3008)
27 авг 2020, 16:55
27 авг 2020, 16:55cbff4a0

#ifndef B3_USE_GLFW

#include "X11OpenGLWindow.h"
#include "OpenGLInclude.h"

#include <stdio.h>
#include <stdlib.h>
#include "glad/gl.h"

#ifdef GLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS
#include "glad/glx.h"
#else
#include <GL/glx.h>
#endif  // GLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS
#include <assert.h>

//#define DYNAMIC_LOAD_X11_FUNCTIONS
#ifdef DYNAMIC_LOAD_X11_FUNCTIONS
#include <dlfcn.h>
#endif  //DYNAMIC_LOAD_X11_FUNCTIONS

//#include<X11/X.h>
//#include<X11/Xlib.h>
//#include<GL/gl.h>

//defined in GL/glxew.h
//#include<GL/glu.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>

#include <pthread.h>

GLint att[] = {GLX_RGBA,
			   GLX_DEPTH_SIZE, 24,
			   GLX_RED_SIZE, 8,
			   GLX_GREEN_SIZE, 8,
			   GLX_BLUE_SIZE, 8,
			   GLX_ALPHA_SIZE, 8,
			   GLX_STENCIL_SIZE, 8,
			   GLX_DOUBLEBUFFER,
			   None};
/*
 static int att[] =
            {
                GLX_RGBA, GLX_DEPTH_SIZE, 24, GLX_DOUBLEBUFFER, None

              GLX_X_RENDERABLE    , True,
              GLX_DRAWABLE_TYPE   , GLX_WINDOW_BIT,
              GLX_RENDER_TYPE     , GLX_RGBA_BIT,
              GLX_X_VISUAL_TYPE   , GLX_TRUE_COLOR,
              GLX_RED_SIZE        , 8,
              GLX_GREEN_SIZE      , 8,
              GLX_BLUE_SIZE       , 8,
              GLX_ALPHA_SIZE      , 8,
              GLX_DEPTH_SIZE      , 24,
              GLX_STENCIL_SIZE    , 8,
              GLX_DOUBLEBUFFER    , True,
              None
            };
*/
static bool forceOpenGL3 = true;

#ifdef DYNAMIC_LOAD_X11_FUNCTIONS

///our X11 function typedefs

typedef int (*PFNXFREE)(void*);
typedef XErrorHandler (*PFNXSETERRORHANDLER)(XErrorHandler);
typedef int (*PFNXSYNC)(Display* a, Bool b);
typedef Display* (*PFNXOPENDISPLAY)(_Xconst char* a);
typedef Colormap (*PFNXCREATECOLORMAP)(Display* a, Window b, Visual* c, int d);
typedef Window (*PFNXCREATEWINDOW)(Display* a, Window b, int c, int d, unsigned int e, unsigned int f, unsigned int g, int h, unsigned int i, Visual* j, unsigned long k, XSetWindowAttributes* l);
typedef int (*PFNXMAPWINDOW)(Display*, Window);
typedef int (*PFNXSTORENAME)(Display* a, Window b, _Xconst char* c);
typedef int (*PFNXCLOSEDISPLAY)(Display* a);
typedef int (*PFNXDESTROYWINDOW)(Display* a, Window b);
typedef int (*PFNXRAISEWINDOW)(Display* a, Window b);

#if NeedWidePrototypes
typedef KeySym* (*PFNXGETKEYBOARDMAPPING)(Display*, unsigned int, int, int*);
typedef KeySym (*PFNXKEYCODETOKEYSYM)(Display* a, unsigned int b, int c);
#else
typedef KeySym* (*PFNXGETKEYBOARDMAPPING)(Display*, KeyCode, int, int*);
typedef KeySym (*PFNXKEYCODETOKEYSYM)(Display* a, KeyCode b, int c);
#endif
typedef void (*PFNXCONVERTCASE)(KeySym /* sym */, KeySym* /* lower */, KeySym* /* upper */);
typedef int (*PFNXPENDING)(Display* a);
typedef int (*PFNXNEXTEVENT)(Display* a, XEvent* b);
typedef int (*PFNXEVENTSQUEUED)(Display* a, int b);
typedef int (*PFNXPEEKEVENT)(Display* a, XEvent* b);
typedef KeySym (*PFNXLOOKUPKEYSYM)(XKeyEvent* a, int b);
typedef Status (*PFNXGETWINDOWATTRIBUTES)(Display* a, Window b, XWindowAttributes* c);

#define X11_LIBRARY "libX11.so.6"

#define MyXSync m_data->m_x11_XSync
#define MyXGetKeyboardMapping m_data->m_x11_XGetKeyboardMapping
#define MyXSetErrorHandler m_data->m_x11_XSetErrorHandler
#define MyXOpenDisplay m_data->m_x11_XOpenDisplay
#define MyXCreateColormap m_data->m_x11_XCreateColormap
#define MyXCreateWindow m_data->m_x11_XCreateWindow
#define MyXMapWindow m_data->m_x11_XMapWindow
#define MyXStoreName m_data->m_x11_XStoreName
#define MyXDestroyWindow m_data->m_x11_XDestroyWindow
#define MyXRaiseWindow m_data->m_x11_XRaiseWindow
#define MyXCloseDisplay m_data->m_x11_XCloseDisplay
#define MyXKeycodeToKeysym m_data->m_x11_XKeycodeToKeysym
#define MyXConvertCase m_data->m_x11_XConvertCase
#define MyXPending m_data->m_x11_XPending
#define MyXNextEvent m_data->m_x11_XNextEvent
#define MyXEventsQueued m_data->m_x11_XEventsQueued
#define MyXPeekEvent m_data->m_x11_XPeekEvent
#define MyXNextEvent m_data->m_x11_XNextEvent
#define MyXGetWindowAttributes m_data->m_x11_XGetWindowAttributes
#define MyXStoreName m_data->m_x11_XStoreName
#define MyXFree m_data->m_x11_XFree
#define MyXMapWindow m_data->m_x11_XMapWindow
#define MyXStoreName m_data->m_x11_XStoreName
#define MyXLookupKeysym m_data->m_x11_XLookupKeysym

#else
#define MyXSync XSync
#define MyXGetKeyboardMapping XGetKeyboardMapping
#define MyXSetErrorHandler XSetErrorHandler
#define MyXOpenDisplay XOpenDisplay
#define MyXCreateColormap XCreateColormap
#define MyXCreateWindow XCreateWindow
#define MyXMapWindow XMapWindow
#define MyXStoreName XStoreName
#define MyXDestroyWindow XDestroyWindow
#define MyXRaiseWindow XRaiseWindow
#define MyXCloseDisplay XCloseDisplay
#define MyXKeycodeToKeysym XKeycodeToKeysym
#define MyXConvertCase XConvertCase
#define MyXPending XPending
#define MyXNextEvent XNextEvent
#define MyXEventsQueued XEventsQueued
#define MyXPeekEvent XPeekEvent
#define MyXNextEvent XNextEvent
#define MyXGetWindowAttributes XGetWindowAttributes
#define MyXStoreName XStoreName
#define MyXFree XFree
#define MyXMapWindow XMapWindow
#define MyXStoreName XStoreName
#define MyXLookupKeysym XLookupKeysym

#endif  //DYNAMIC_LOAD_X11_FUNCTIONS

enum
{
	MY_X11_ALT_KEY = 1,
	MY_X11_SHIFT_KEY = 2,
	MY_X11_CONTROL_KEY = 4
};

struct InternalData2
{
	Display* m_dpy;
	Window m_root;
	XVisualInfo* m_vi;
	Colormap m_cmap;
	XSetWindowAttributes m_swa;
	Window m_win;
	GLXContext m_glc;
	XWindowAttributes m_gwa;
	XEvent m_xev;
	GLXFBConfig m_bestFbc;
	int m_modifierFlags;
	int m_glWidth;
	int m_glHeight;

#ifdef DYNAMIC_LOAD_X11_FUNCTIONS
	//dynamically load stuff
	void* m_x11_library;
	PFNXFREE m_x11_XFree;
	PFNXSETERRORHANDLER m_x11_XSetErrorHandler;
	PFNXSYNC m_x11_XSync;
	PFNXOPENDISPLAY m_x11_XOpenDisplay;
	PFNXCREATECOLORMAP m_x11_XCreateColormap;
	PFNXCREATEWINDOW m_x11_XCreateWindow;
	PFNXMAPWINDOW m_x11_XMapWindow;
	PFNXSTORENAME m_x11_XStoreName;
	PFNXCLOSEDISPLAY m_x11_XCloseDisplay;
	PFNXDESTROYWINDOW m_x11_XDestroyWindow;
	PFNXRAISEWINDOW m_x11_XRaiseWindow;
	PFNXKEYCODETOKEYSYM m_x11_XKeycodeToKeysym;
	PFNXGETKEYBOARDMAPPING m_x11_XGetKeyboardMapping;
	PFNXCONVERTCASE m_x11_XConvertCase;
	PFNXPENDING m_x11_XPending;
	PFNXNEXTEVENT m_x11_XNextEvent;
	PFNXEVENTSQUEUED m_x11_XEventsQueued;
	PFNXPEEKEVENT m_x11_XPeekEvent;
	PFNXLOOKUPKEYSYM m_x11_XLookupKeysym;
	PFNXGETWINDOWATTRIBUTES m_x11_XGetWindowAttributes;
#endif  //DYNAMIC_LOAD_X11_FUNCTIONS

	b3WheelCallback m_wheelCallback;
	b3MouseMoveCallback m_mouseMoveCallback;
	b3MouseButtonCallback m_mouseButtonCallback;
	b3ResizeCallback m_resizeCallback;
	b3KeyboardCallback m_keyboardCallback;

	InternalData2()
		: m_dpy(0),
		  m_vi(0),
		  m_modifierFlags(0),
		  m_glWidth(-1),
		  m_glHeight(-1),
		  m_wheelCallback(0),
		  m_mouseMoveCallback(0),
		  m_mouseButtonCallback(0),
		  m_resizeCallback(0),
		  m_keyboardCallback(0)
	{
#ifdef DYNAMIC_LOAD_X11_FUNCTIONS
		m_x11_library = dlopen(X11_LIBRARY, RTLD_LOCAL | RTLD_NOW);
		if (!m_x11_library)
		{
			// TODO: Properly handle this error.
			fprintf(stderr, "Error opening X11 library %s: %s\n", X11_LIBRARY, dlerror());
			exit(EXIT_FAILURE);
		}

		bool missingFunc = false;

		missingFunc = ((m_x11_XFree = (PFNXFREE)dlsym(m_x11_library, "XFree")) == NULL) | missingFunc;
		assert(!missingFunc);
		if (missingFunc)
		{
			fprintf(stderr, "Error: missing func XFree in %s, exiting!\n", X11_LIBRARY);
			exit(EXIT_FAILURE);
		}
		missingFunc = ((m_x11_XSetErrorHandler = (PFNXSETERRORHANDLER)dlsym(m_x11_library, "XSetErrorHandler")) == NULL) | missingFunc;
		if (missingFunc)
		{
			fprintf(stderr, "Error: missing func XSetErrorHandler in %s, exiting!\n", X11_LIBRARY);
			exit(EXIT_FAILURE);
		}
		missingFunc = ((m_x11_XSetErrorHandler = (PFNXSETERRORHANDLER)dlsym(m_x11_library, "XSetErrorHandler")) == NULL) | missingFunc;
		if (missingFunc)
		{
			fprintf(stderr, "Error: missing func XSetErrorHandler in %s, exiting!\n", X11_LIBRARY);
			exit(EXIT_FAILURE);
		}
		missingFunc = ((m_x11_XSync = (PFNXSYNC)dlsym(m_x11_library, "XSync")) == NULL) | missingFunc;
		if (missingFunc)
		{
			fprintf(stderr, "Error: missing func XSync in %s, exiting!\n", X11_LIBRARY);
			exit(EXIT_FAILURE);
		}
		missingFunc = ((m_x11_XOpenDisplay = (PFNXOPENDISPLAY)dlsym(m_x11_library, "XOpenDisplay")) == NULL) | missingFunc;
		if (missingFunc)
		{
			fprintf(stderr, "Error: missing func XOpenDisplay in %s, exiting!\n", X11_LIBRARY);
			exit(EXIT_FAILURE);
		}
		missingFunc = ((m_x11_XCreateColormap = (PFNXCREATECOLORMAP)dlsym(m_x11_library, "XCreateColormap")) == NULL) | missingFunc;
		if (missingFunc)
		{
			fprintf(stderr, "Error: missing func XCreateColormap in %s, exiting!\n", X11_LIBRARY);
			exit(EXIT_FAILURE);
		}
		missingFunc = ((m_x11_XCreateWindow = (PFNXCREATEWINDOW)dlsym(m_x11_library, "XCreateWindow")) == NULL) | missingFunc;
		if (missingFunc)
		{
			fprintf(stderr, "Error: missing func XCreateWindow in %s, exiting!\n", X11_LIBRARY);
			exit(EXIT_FAILURE);
		}
		missingFunc = ((m_x11_XMapWindow = (PFNXMAPWINDOW)dlsym(m_x11_library, "XMapWindow")) == NULL) | missingFunc;
		if (missingFunc)
		{
			fprintf(stderr, "Error: missing func XMapWindow in %s, exiting!\n", X11_LIBRARY);
			exit(EXIT_FAILURE);
		}
		missingFunc = ((m_x11_XStoreName = (PFNXSTORENAME)dlsym(m_x11_library, "XStoreName")) == NULL) | missingFunc;
		if (missingFunc)
		{
			fprintf(stderr, "Error: missing func XStoreName in %s, exiting!\n", X11_LIBRARY);
			exit(EXIT_FAILURE);
		}
		missingFunc = ((m_x11_XCloseDisplay = (PFNXCLOSEDISPLAY)dlsym(m_x11_library, "XCloseDisplay")) == NULL) | missingFunc;
		if (missingFunc)
		{
			fprintf(stderr, "Error: missing func XCloseDisplay in %s, exiting!\n", X11_LIBRARY);
			exit(EXIT_FAILURE);
		}
		missingFunc = ((m_x11_XDestroyWindow = (PFNXDESTROYWINDOW)dlsym(m_x11_library, "XDestroyWindow")) == NULL) | missingFunc;
		if (missingFunc)
		{
			fprintf(stderr, "Error: missing func XDestroyWindow in %s, exiting!\n", X11_LIBRARY);
			exit(EXIT_FAILURE);
		}
		missingFunc = ((m_x11_XRaiseWindow = (PFNXRAISEWINDOW)dlsym(m_x11_library, "XRaiseWindow")) == NULL) | missingFunc;
		if (missingFunc)
		{
			fprintf(stderr, "Error: missing func XRaiseWindow in %s, exiting!\n", X11_LIBRARY);
			exit(EXIT_FAILURE);
		}

		missingFunc = ((m_x11_XGetKeyboardMapping = (PFNXGETKEYBOARDMAPPING)dlsym(m_x11_library, "XGetKeyboardMapping")) == NULL) | missingFunc;
		if (missingFunc)
		{
			fprintf(stderr, "Error: missing func XGetKeyboardMapping in %s, exiting!\n", X11_LIBRARY);
			exit(EXIT_FAILURE);
		}
		missingFunc = ((m_x11_XKeycodeToKeysym = (PFNXKEYCODETOKEYSYM)dlsym(m_x11_library, "XKeycodeToKeysym")) == NULL) | missingFunc;
		if (missingFunc)
		{
			fprintf(stderr, "Error: missing func XKeycodeToKeysym in %s, exiting!\n", X11_LIBRARY);
			exit(EXIT_FAILURE);
		}
		missingFunc = ((m_x11_XConvertCase = (PFNXCONVERTCASE)dlsym(m_x11_library, "XConvertCase")) == NULL) | missingFunc;
		if (missingFunc)
		{
			fprintf(stderr, "Error: missing func XConvertCase in %s, exiting!\n", X11_LIBRARY);
			exit(EXIT_FAILURE);
		}
		missingFunc = ((m_x11_XPending = (PFNXPENDING)dlsym(m_x11_library, "XPending")) == NULL) | missingFunc;
		if (missingFunc)
		{
			fprintf(stderr, "Error: missing func XPending in %s, exiting!\n", X11_LIBRARY);
			exit(EXIT_FAILURE);
		}
		missingFunc = ((m_x11_XNextEvent = (PFNXNEXTEVENT)dlsym(m_x11_library, "XNextEvent")) == NULL) | missingFunc;
		if (missingFunc)
		{
			fprintf(stderr, "Error: missing func XNextEvent in %s, exiting!\n", X11_LIBRARY);
			exit(EXIT_FAILURE);
		}
		missingFunc = ((m_x11_XEventsQueued = (PFNXEVENTSQUEUED)dlsym(m_x11_library, "XEventsQueued")) == NULL) | missingFunc;
		if (missingFunc)
		{
			fprintf(stderr, "Error: missing func XEventsQueued in %s, exiting!\n", X11_LIBRARY);
			exit(EXIT_FAILURE);
		}
		missingFunc = ((m_x11_XPeekEvent = (PFNXPEEKEVENT)dlsym(m_x11_library, "XPeekEvent")) == NULL) | missingFunc;
		if (missingFunc)
		{
			fprintf(stderr, "Error: missing func XPeekEvent in %s, exiting!\n", X11_LIBRARY);
			exit(EXIT_FAILURE);
		}
		missingFunc = ((m_x11_XLookupKeysym = (PFNXLOOKUPKEYSYM)dlsym(m_x11_library, "XLookupKeysym")) == NULL) | missingFunc;
		if (missingFunc)
		{
			fprintf(stderr, "Error: missing func XLookupKeysym in %s, exiting!\n", X11_LIBRARY);
			exit(EXIT_FAILURE);
		}
		missingFunc = ((m_x11_XGetWindowAttributes = (PFNXGETWINDOWATTRIBUTES)dlsym(m_x11_library, "XGetWindowAttributes")) == NULL) | missingFunc;
		if (missingFunc)
		{
			fprintf(stderr, "Error: missing func XGetWindowAttributes in %s, exiting!\n", X11_LIBRARY);
			exit(EXIT_FAILURE);
		}

		if (missingFunc)
		{
			fprintf(stderr, "Error: a missing func in %s, exiting!\n", X11_LIBRARY);
			exit(EXIT_FAILURE);
		}
		else
		{
			printf("X11 functions dynamically loaded using dlopen/dlsym OK!\n");
		}
#endif  //DYNAMIC_LOAD_X11_FUNCTIONS
	}
};

#define GLX_CONTEXT_MAJOR_VERSION_ARB 0x2091
#define GLX_CONTEXT_MINOR_VERSION_ARB 0x2092
typedef GLXContext (*glXCreateContextAttribsARBProc)(Display*, GLXFBConfig, GLXContext, Bool, const int*);

// Helper to check for extension string presence.  Adapted from:
//   http://www.opengl.org/resources/features/OGLextensions/
static bool isExtensionSupported(const char* extList, const char* extension)
{
	const char* start;
	const char *where, *terminator;

	/* Extension names should not have spaces. */
	where = strchr(extension, ' ');
	if (where || *extension == '\0')
		return false;

	/* It takes a bit of care to be fool-proof about parsing the
     OpenGL extensions string. Don't be fooled by sub-strings,
     etc. */
	for (start = extList;;)
	{
		where = strstr(start, extension);

		if (!where)
			break;

		terminator = where + strlen(extension);

		if (where == start || *(where - 1) == ' ')
			if (*terminator == ' ' || *terminator == '\0')
				return true;

		start = terminator;
	}

	return false;
}

static bool ctxErrorOccurred = false;
static int ctxErrorHandler(Display* dpy, XErrorEvent* ev)
{
	ctxErrorOccurred = true;
	return 0;
}

X11OpenGLWindow::X11OpenGLWindow()
	: m_OpenGLInitialized(false),
	  m_requestedExit(false)
{
	m_data = new InternalData2;
}

X11OpenGLWindow::~X11OpenGLWindow()
{
	if (m_OpenGLInitialized)
	{
		disableOpenGL();
	}

	delete m_data;
}

void X11OpenGLWindow::enableOpenGL()
{
	if (forceOpenGL3)
	{
		// Get the default screen's GLX extension list
		const char* glxExts = glXQueryExtensionsString(m_data->m_dpy,
													   DefaultScreen(m_data->m_dpy));

		// NOTE: It is not necessary to create or make current to a context before
		// calling glXGetProcAddressARB, unless we dynamically load OpenGL/GLX/X11

		glXCreateContextAttribsARBProc glXCreateContextAttribsARB = 0;
		glXCreateContextAttribsARB = (glXCreateContextAttribsARBProc)
			glXGetProcAddressARB((const GLubyte*)"glXCreateContextAttribsARB");

		GLXContext ctx = 0;

		// Install an X error handler so the application won't exit if GL 3.3
		// context allocation fails.
		//
		// Note this error handler is global.  All display connections in all threads
		// of a process use the same error handler, so be sure to guard against other
		// threads issuing X commands while this code is running.
		ctxErrorOccurred = false;
		int (*oldHandler)(Display*, XErrorEvent*) =
			MyXSetErrorHandler(&ctxErrorHandler);

		// Check for the GLX_ARB_create_context extension string and the function.
		// If either is not present, use GLX 1.3 context creation method.
		if (!isExtensionSupported(glxExts, "GLX_ARB_create_context") ||
			!glXCreateContextAttribsARB)
		{
			printf(
				"glXCreateContextAttribsARB() not found"
				" ... using old-style GLX context\n");
			ctx = glXCreateNewContext(m_data->m_dpy, m_data->m_bestFbc, GLX_RGBA_TYPE, 0, True);
		}

		// If it does, try to get a GL 3.3 context!
		else
		{
			int context_attribs[] = {
				GLX_CONTEXT_MAJOR_VERSION_ARB, 3,
				GLX_CONTEXT_MINOR_VERSION_ARB, 3,
				GLX_CONTEXT_FLAGS_ARB, GLX_CONTEXT_DEBUG_BIT_ARB,
				GLX_CONTEXT_PROFILE_MASK_ARB, GLX_CONTEXT_CORE_PROFILE_BIT_ARB, None};
			/*
    int context_attribs[] =
      {
        GLX_CONTEXT_MAJOR_VERSION_ARB, 3,
        GLX_CONTEXT_MINOR_VERSION_ARB, 2,

        //GLX_CONTEXT_FLAGS_ARB        , GLX_CONTEXT_FORWARD_COMPATIBLE_BIT_ARB,
        None
      };
*/
			printf("Creating context\n");
			ctx = glXCreateContextAttribsARB(m_data->m_dpy, m_data->m_bestFbc, 0,
											 True, context_attribs);

			// Sync to ensure any errors generated are processed.
			MyXSync(m_data->m_dpy, False);
			if (!ctxErrorOccurred && ctx)
				printf("Created GL 3.3 context\n");
			else
			{
				// Couldn't create GL 3.3 context.  Fall back to old-style 2.x context.
				// When a context version below 3.0 is requested, implementations will
				// return the newest context version compatible with OpenGL versions less
				// than version 3.0.
				// GLX_CONTEXT_MAJOR_VERSION_ARB = 1
				context_attribs[1] = 1;
				// GLX_CONTEXT_MINOR_VERSION_ARB = 0
				context_attribs[3] = 0;

				ctxErrorOccurred = false;

				printf(
					"Failed to create GL 3.3 context"
					" ... using old-style GLX context\n");
				ctx = glXCreateContextAttribsARB(m_data->m_dpy, m_data->m_bestFbc, 0,
												 True, context_attribs);
			}
		}

		// Sync to ensure any errors generated are processed.
		MyXSync(m_data->m_dpy, False);

		// Restore the original error handler
		MyXSetErrorHandler(oldHandler);

		if (ctxErrorOccurred || !ctx)
		{
			fprintf(stderr, "Failed to create an OpenGL context\n");
			exit(1);
		}

		// Verifying that context is a direct context
		if (!glXIsDirect(m_data->m_dpy, ctx))
		{
			printf("Indirect GLX rendering context obtained\n");
		}
		else
		{
			printf("Direct GLX rendering context obtained\n");
		}

		printf("Making context current\n");
		glXMakeCurrent(m_data->m_dpy, m_data->m_win, ctx);
		m_data->m_glc = ctx;
	}
	else
	{
		m_data->m_glc = glXCreateContext(m_data->m_dpy, m_data->m_vi, NULL, GL_TRUE);
		glXMakeCurrent(m_data->m_dpy, m_data->m_win, m_data->m_glc);
	}

	if (!gladLoaderLoadGL())
	{
		printf("gladLoadGL failed!\n");
		exit(-1);
	}

	const GLubyte* ven = glGetString(GL_VENDOR);
	printf("GL_VENDOR=%s\n", ven);

	const GLubyte* ren = glGetString(GL_RENDERER);
	printf("GL_RENDERER=%s\n", ren);
	const GLubyte* ver = glGetString(GL_VERSION);
	printf("GL_VERSION=%s\n", ver);
	const GLubyte* sl = glGetString(GL_SHADING_LANGUAGE_VERSION);
	printf("GL_SHADING_LANGUAGE_VERSION=%s\n", sl);

	//Access pthreads as a workaround for a bug in Linux/Ubuntu
	//See https://bugs.launchpad.net/ubuntu/+source/nvidia-graphics-drivers-319/+bug/1248642

#if !defined(__NetBSD__)
	int i = pthread_getconcurrency();
	printf("pthread_getconcurrency()=%d\n", i);
#endif

	//    const GLubyte* ext = glGetString(GL_EXTENSIONS);
	//    printf("GL_EXTENSIONS=%s\n", ext);
}

void X11OpenGLWindow::disableOpenGL()
{
	glXMakeCurrent(m_data->m_dpy, None, NULL);
	glXDestroyContext(m_data->m_dpy, m_data->m_glc);
}

void X11OpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci)
{
	m_data->m_dpy = MyXOpenDisplay(NULL);

	m_data->m_glWidth = ci.m_width;
	m_data->m_glHeight = ci.m_height;

	if (m_data->m_dpy == NULL)
	{
		fprintf(stderr, "\n\tcannot connect to X server\n\n");
		exit(EXIT_FAILURE);
	}

	m_data->m_root = DefaultRootWindow(m_data->m_dpy);

#ifdef GLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS

	int res = gladLoaderLoadGLX(m_data->m_dpy, DefaultScreen(m_data->m_dpy));
	if (!res)
	{
		printf("Error in gladLoadGLX\n");
		exit(0);
	}

#endif

	if (ci.m_openglVersion < 3)
	{
		forceOpenGL3 = false;
	}

	if (forceOpenGL3)
	{
		int glxMinor, glxMajor;
		if (!glXQueryVersion(m_data->m_dpy, &glxMajor, &glxMinor) || (((glxMajor == 1) && (glxMinor < 3)) || (glxMajor < 1)))
		{
			fprintf(stderr, "Invalid GLX version: major %d, minor %d\n", glxMajor, glxMinor);
			exit(EXIT_FAILURE);
		}

		static int visual_attribs[] =
			{
				GLX_X_RENDERABLE, True,
				GLX_DRAWABLE_TYPE, GLX_WINDOW_BIT,
				GLX_RENDER_TYPE, GLX_RGBA_BIT,
				GLX_X_VISUAL_TYPE, GLX_TRUE_COLOR,
				GLX_RED_SIZE, 8,
				GLX_GREEN_SIZE, 8,
				GLX_BLUE_SIZE, 8,
				GLX_ALPHA_SIZE, 8,
				GLX_DEPTH_SIZE, 24,
				GLX_STENCIL_SIZE, 8,
				GLX_DOUBLEBUFFER, True,
				None};
		int fbcount;
		GLXFBConfig* fbc = glXChooseFBConfig(m_data->m_dpy, DefaultScreen(m_data->m_dpy), visual_attribs, &fbcount);
		if (!fbc)
		{
			fprintf(stderr, "Failed to retrieve a framebuffer config\n");
			exit(1);
		}
///don't use highest samples, it is really slow on some NVIDIA Quadro cards
#ifdef USE_HIGHEST_SAMPLES
		int best_fbc = -1, worst_fbc = -1, best_num_samp = -1, worst_num_samp = 999;

		int i;
		for (i = 0; i < fbcount; ++i)
		{
			XVisualInfo* vi = glXGetVisualFromFBConfig(m_data->m_dpy, fbc[i]);
			if (vi)
			{
				int samp_buf, samples;
				glXGetFBConfigAttrib(m_data->m_dpy, fbc[i], GLX_SAMPLE_BUFFERS, &samp_buf);
				glXGetFBConfigAttrib(m_data->m_dpy, fbc[i], GLX_SAMPLES, &samples);

				//printf( "  Matching fbconfig %d, visual ID 0x%2x: SAMPLE_BUFFERS = %d,"
				//       " SAMPLES = %d\n",
				//      i, vi -> visualid, samp_buf, samples );

				if (best_fbc < 0 || (samp_buf && (samples > best_num_samp)))
					best_fbc = i, best_num_samp = samples;
				if (worst_fbc < 0 || (!samp_buf || (samples < worst_num_samp)))
					worst_fbc = i, worst_num_samp = samples;
			}
			MyXFree(vi);
		}

		m_data->m_bestFbc = fbc[best_fbc];
#else
		m_data->m_bestFbc = *fbc;
#endif
		// Be sure to free the FBConfig list allocated by glXChooseFBConfig()
		MyXFree(fbc);

		m_data->m_vi = glXGetVisualFromFBConfig(m_data->m_dpy, m_data->m_bestFbc);

		m_data->m_swa.colormap = m_data->m_cmap = MyXCreateColormap(m_data->m_dpy,
																	RootWindow(m_data->m_dpy, m_data->m_vi->screen),
																	m_data->m_vi->visual, AllocNone);
		m_data->m_swa.background_pixmap = None;
		m_data->m_swa.border_pixel = 0;
		m_data->m_swa.event_mask = ExposureMask | KeyReleaseMask | KeyPressMask | ButtonPressMask | ButtonReleaseMask | PointerMotionMask | StructureNotifyMask;
		;
		m_data->m_root = RootWindow(m_data->m_dpy, m_data->m_vi->screen);

		m_data->m_win = MyXCreateWindow(m_data->m_dpy, m_data->m_root,
										0, 0, ci.m_width, ci.m_height, 0, m_data->m_vi->depth, InputOutput,
										m_data->m_vi->visual,
										CWBorderPixel | CWColormap | CWEventMask, &m_data->m_swa);

		//m_data->m_win = m_data->m_x11_XCreateWindow(m_data->m_dpy, m_data->m_root, 0, 0, ci.m_width, ci.m_height, 0, m_data->m_vi->depth, InputOutput, m_data->m_vi->visual, CWColormap | CWEventMask, &m_data->m_swa);

		if (!m_data->m_win)
		{
			fprintf(stderr, "Cannot create window\n");
			exit(EXIT_FAILURE);
		}

		MyXMapWindow(m_data->m_dpy, m_data->m_win);
		MyXStoreName(m_data->m_dpy, m_data->m_win, "OpenGL3 Window");
	}
	else
	{
		m_data->m_vi = glXChooseVisual(m_data->m_dpy, 0, att);

		printf("4\n");

		if (m_data->m_vi == NULL)
		{
			fprintf(stderr, "\n\tno appropriate visual found\n\n");
			exit(EXIT_FAILURE);
		}
		else
		{
			printf("\n\tvisual %p selected\n", (void*)m_data->m_vi->visualid); /* %p creates hexadecimal output like in glxinfo */
		}

		m_data->m_cmap = MyXCreateColormap(m_data->m_dpy, m_data->m_root, m_data->m_vi->visual, AllocNone);
		m_data->m_swa.colormap = m_data->m_cmap;
		m_data->m_swa.event_mask = ExposureMask | KeyReleaseMask | KeyPressMask | ButtonPressMask | ButtonReleaseMask | PointerMotionMask | StructureNotifyMask;
		m_data->m_win = MyXCreateWindow(m_data->m_dpy, m_data->m_root, 0, 0, ci.m_width, ci.m_height, 0, m_data->m_vi->depth, InputOutput, m_data->m_vi->visual, CWColormap | CWEventMask, &m_data->m_swa);

		MyXMapWindow(m_data->m_dpy, m_data->m_win);

		MyXStoreName(m_data->m_dpy, m_data->m_win, "OpenGL2 Window");
	}

	enableOpenGL();
}

void X11OpenGLWindow::closeWindow()
{
	disableOpenGL();

	MyXDestroyWindow(m_data->m_dpy, m_data->m_win);
	MyXCloseDisplay(m_data->m_dpy);
}

int X11OpenGLWindow::getAsciiCodeFromVirtualKeycode(int keycode)
{
	int result = 0;

	KeySym key, key_lc, key_uc;

	int keysyms_per_keycode_return;
	KeySym* keysym = MyXGetKeyboardMapping(m_data->m_dpy,
										   keycode,
										   1,
										   &keysyms_per_keycode_return);

	key = keysym[0];

	//key = MyXKeycodeToKeysym( m_data->m_dpy, keycode, 0 );

	switch (key)
	{
		case XK_Escape:
			return B3G_ESCAPE;
		case XK_Return:
			return B3G_RETURN;

		case XK_Control_L:
		case XK_Control_R:
		{
			return B3G_CONTROL;
		}
		case XK_Left:
			return B3G_LEFT_ARROW;
		case XK_Right:
			return B3G_RIGHT_ARROW;
		case XK_Up:
			return B3G_UP_ARROW;
		case XK_Down:
			return B3G_DOWN_ARROW;

		case XK_Alt_L:
		case XK_Alt_R:
		{
			return B3G_ALT;
		}
		case XK_Shift_L:
		case XK_Shift_R:
			return B3G_SHIFT;
		case XK_F1:
			return B3G_F1;
		case XK_F2:
			return B3G_F2;
		case XK_F3:
			return B3G_F3;
		case XK_F4:
			return B3G_F4;
		case XK_F5:
			return B3G_F5;
		case XK_F6:
			return B3G_F6;
		case XK_F7:
			return B3G_F7;
		case XK_F8:
			return B3G_F8;
		case XK_F9:
			return B3G_F9;
		case XK_F10:
			return B3G_F10;
		case XK_F11:
			return B3G_F11;
		case XK_F12:
			return B3G_F12;
		case XK_F13:
			return B3G_F13;
		case XK_F14:
			return B3G_F14;
		case XK_F15:
			return B3G_F15;
		default:
			// Make lowercase
			MyXConvertCase(key, &key_lc, &key_uc);
			key = key_lc;
			// Valid ISO 8859-1 character?
			if ((key >= 32 && key <= 126) || (key >= 160 && key <= 255))
			{
				return (int)key;
			}
			result = -1;
	}

	MyXFree(keysym);

	return result;
}

bool X11OpenGLWindow::isModifierKeyPressed(int key)
{
	bool isPressed = false;

	switch (key)
	{
		case B3G_ALT:
		{
			isPressed = ((m_data->m_modifierFlags & MY_X11_ALT_KEY) != 0);
			break;
		};
		case B3G_SHIFT:
		{
			isPressed = ((m_data->m_modifierFlags & MY_X11_SHIFT_KEY) != 0);
			break;
		};
		case B3G_CONTROL:
		{
			isPressed = ((m_data->m_modifierFlags & MY_X11_CONTROL_KEY) != 0);
			break;
		};

		default:
		{
		}
	};
	return isPressed;
}

void X11OpenGLWindow::pumpMessage()
{
	int buttonState = 1;

	// Process all pending events
	while (MyXPending(m_data->m_dpy))
	{
		MyXNextEvent(m_data->m_dpy, &m_data->m_xev);
		//      printf("#");
		//      fflush(stdout);
		switch (m_data->m_xev.type)
		{
			case KeyPress:
			{
				int keycode = getAsciiCodeFromVirtualKeycode(m_data->m_xev.xkey.keycode);
				switch (keycode)
				{
					case B3G_ALT:
						m_data->m_modifierFlags |= MY_X11_ALT_KEY;
						break;
					case B3G_SHIFT:
						m_data->m_modifierFlags |= MY_X11_SHIFT_KEY;
						break;
					case B3G_CONTROL:
						m_data->m_modifierFlags |= MY_X11_CONTROL_KEY;
						break;
					default:
					{
					}
				};
				if (m_data->m_keyboardCallback)
				{
					int state = 1;
					(*m_data->m_keyboardCallback)(keycode, state);
					//    printf("keycode %d",keycode);
					//  fflush(stdout);
				}
				break;
			}

			case KeyRelease:
			{
				//           fflush(stdout);
				int keycode = getAsciiCodeFromVirtualKeycode(m_data->m_xev.xkey.keycode);
				switch (keycode)
				{
					case B3G_ALT:
						m_data->m_modifierFlags &= ~MY_X11_ALT_KEY;
						break;
					case B3G_SHIFT:
						m_data->m_modifierFlags &= ~MY_X11_SHIFT_KEY;
						break;
					case B3G_CONTROL:
						m_data->m_modifierFlags &= ~MY_X11_CONTROL_KEY;
						break;
					default:
					{
					}
				};

				if (m_data->m_keyboardCallback)
				{
#if 1
					unsigned short is_retriggered = 0;
					///filter out keyboard repeat
					//see http://stackoverflow.com/questions/2100654/ignore-auto-repeat-in-x11-applications
					if (MyXEventsQueued(m_data->m_dpy, QueuedAfterReading))
					{
						XEvent nev;
						MyXPeekEvent(m_data->m_dpy, &nev);

						if (nev.type == KeyPress && nev.xkey.time == m_data->m_xev.xkey.time &&
							nev.xkey.keycode == m_data->m_xev.xkey.keycode)
						{
							//fprintf (stdout, "key #%ld was retriggered.\n",
							// (long) MyXLookupKeysym(&nev.xkey, 0));

							// delete retriggered KeyPress event
							MyXNextEvent(m_data->m_dpy, &m_data->m_xev);
							is_retriggered = 1;
						}
					}
#endif
					int state = 0;
					if (!is_retriggered)
						(*m_data->m_keyboardCallback)(keycode, state);
				}

				break;
			}

			case ButtonRelease:
				buttonState = 0;
				//continue with ButtonPress code
			case ButtonPress:
			{
				//                printf("!");
				//                fflush(stdout);

				int button = -1;

				switch (m_data->m_xev.xbutton.button)
				{
					case Button1:
					{
						button = 0;
						break;
					}
					case Button2:
					{
						button = 1;
						break;
					}
					case Button3:
					{
						button = 2;
						break;
					}
					case Button4:
					{
						if (m_data->m_wheelCallback)
						{
							(*m_data->m_wheelCallback)(0, 10);
						}
						break;
					}
					case Button5:
					{
						if (m_data->m_wheelCallback)
						{
							(*m_data->m_wheelCallback)(0, -10);
						}
						break;
					}
				}
				int xpos = m_data->m_xev.xmotion.x;
				int ypos = m_data->m_xev.xmotion.y;

				if (button >= 0 && m_data->m_mouseButtonCallback)
				{
					//                      printf("xpos = %d, ypos = %d\n",xpos,ypos);

					(*m_data->m_mouseButtonCallback)(button, buttonState, xpos, ypos);
				}
				break;
			}
			case MotionNotify:
			{
				//                printf("!");
				//                fflush(0);
				if (m_data->m_mouseMoveCallback)
				{
					int xpos = m_data->m_xev.xmotion.x;
					int ypos = m_data->m_xev.xmotion.y;
					(*m_data->m_mouseMoveCallback)(xpos, ypos);
				}
				break;
			}
			case ConfigureNotify:
			{
				//              printf("@");
				//              fflush(0);
				m_data->m_glWidth = m_data->m_xev.xconfigure.width;
				m_data->m_glHeight = m_data->m_xev.xconfigure.height;

				if (m_data->m_resizeCallback)
				{
					(*m_data->m_resizeCallback)(m_data->m_xev.xconfigure.width, m_data->m_xev.xconfigure.height);
				}
				break;
			}
			case ClientMessage:
			{
				//              printf("?");
				//              fflush(stdout);
				break;
			}
			case Expose:
			{
				break;
			}
			case DestroyNotify:
			{
				break;
			}
			default:
			{
				//XRRUpdateConfiguration( &event );
			}
		};
	}
}

void X11OpenGLWindow::startRendering()
{
	pumpMessage();

	MyXGetWindowAttributes(m_data->m_dpy, m_data->m_win, &m_data->m_gwa);
	glViewport(0, 0, m_data->m_gwa.width, m_data->m_gwa.height);

	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);  //clear buffers

	//glCullFace(GL_BACK);
	//glFrontFace(GL_CCW);
	glEnable(GL_DEPTH_TEST);
}

void X11OpenGLWindow::renderAllObjects()
{
}

void X11OpenGLWindow::endRendering()
{
	glXSwapBuffers(m_data->m_dpy, m_data->m_win);
}

void X11OpenGLWindow::runMainLoop()
{
}

float X11OpenGLWindow::getTimeInSeconds()
{
	return 0.f;
}

bool X11OpenGLWindow::requestedExit() const
{
	return m_requestedExit;
}

void X11OpenGLWindow::setRequestExit()
{
	m_requestedExit = true;
}

void X11OpenGLWindow::setRenderCallback(b3RenderCallback renderCallback)
{
}

void X11OpenGLWindow::setWindowTitle(const char* title)
{
	MyXStoreName(m_data->m_dpy, m_data->m_win, title);
}

void X11OpenGLWindow::setWheelCallback(b3WheelCallback wheelCallback)
{
	m_data->m_wheelCallback = wheelCallback;
}

void X11OpenGLWindow::setMouseMoveCallback(b3MouseMoveCallback mouseCallback)
{
	m_data->m_mouseMoveCallback = mouseCallback;
}

void X11OpenGLWindow::setMouseButtonCallback(b3MouseButtonCallback mouseCallback)
{
	m_data->m_mouseButtonCallback = mouseCallback;
}

void X11OpenGLWindow::setResizeCallback(b3ResizeCallback resizeCallback)
{
	if (resizeCallback && m_data->m_glWidth > 0 && m_data->m_glHeight > 0)
	{
		resizeCallback(m_data->m_glWidth, m_data->m_glHeight);
	}
	m_data->m_resizeCallback = resizeCallback;
}

void X11OpenGLWindow::setKeyboardCallback(b3KeyboardCallback keyboardCallback)
{
	m_data->m_keyboardCallback = keyboardCallback;
}

b3MouseMoveCallback X11OpenGLWindow::getMouseMoveCallback()
{
	return m_data->m_mouseMoveCallback;
}
b3MouseButtonCallback X11OpenGLWindow::getMouseButtonCallback()
{
	return m_data->m_mouseButtonCallback;
}
b3ResizeCallback X11OpenGLWindow::getResizeCallback()
{
	return m_data->m_resizeCallback;
}
b3WheelCallback X11OpenGLWindow::getWheelCallback()
{
	return m_data->m_wheelCallback;
}

b3KeyboardCallback X11OpenGLWindow::getKeyboardCallback()
{
	return m_data->m_keyboardCallback;
}

int X11OpenGLWindow::getWidth() const
{
	if (m_data)
		return m_data->m_glWidth;
	return 0;
}
int X11OpenGLWindow::getHeight() const
{
	if (m_data)
		return m_data->m_glHeight;
	return 0;
}

#include <stdio.h>

int X11OpenGLWindow::fileOpenDialog(char* filename, int maxNameLength)
{
	int len = 0;
	FILE* output = popen("zenity --file-selection --file-filter=\"*.urdf\" --file-filter=\"*.sdf\"  --file-filter=\"*.obj\"  --file-filter=\"*.*\"", "r");
	if (output)
	{
		while (fgets(filename, maxNameLength - 1, output) != NULL)
		{
			len = strlen(filename);
			if (len > 0)
			{
				filename[len - 1] = 0;
				printf("file open (length=%d) = %s\n", len, filename);
			}
		}
		pclose(output);
	}
	else
	{
		printf("Error: fileOpenDialog no popen output, perhaps install zenity?\n");
	}
	MyXRaiseWindow(m_data->m_dpy, m_data->m_win);
	return len;
}
#endif