bullet/glut/win fix

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@487 042f3d55-54a8-47e9-b7fb-15903f145c44

SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGLViewer.h

@@ -28,13 +28,13 @@
 #include "../../DynamicsWorld.h"
 #include "BulletEngine.h"
 
-/*#ifdef _WINDOWS
+#ifdef _WINDOWS
 #include <Win32DemoApplication.h>
 #define PlatformDemoApplication Win32DemoApplication
-#else*/
+#else
 #include <GlutDemoApplication.h>
 #define PlatformDemoApplication GlutDemoApplication
-//#endif
+#endif
 
 #include <btBulletDynamicsCommon.h>
 #include <GlutStuff.h>

SimDynamics/examples/BulletDebugViewerGlut/BulletDebugViewerGlut.cpp

@@ -12,6 +12,117 @@ using namespace std;
 using namespace VirtualRobot;
 using namespace SimDynamics;
 
+
+#ifdef WIN32
+
+#include <GL/gl.h>
+#include <GL/glut.h>
+#include "DemoApplication.h"
+
+//glut is C code, this global gDemoApplication links glut to the C++ demo
+static DemoApplication* gDemoApplication = 0;
+
+
+#include "GlutStuff.h"
+
+static	void glutKeyboardCallback(unsigned char key, int x, int y)
+{
+	gDemoApplication->keyboardCallback(key, x, y);
+}
+
+static	void glutKeyboardUpCallback(unsigned char key, int x, int y)
+{
+	gDemoApplication->keyboardUpCallback(key, x, y);
+}
+
+static void glutSpecialKeyboardCallback(int key, int x, int y)
+{
+	gDemoApplication->specialKeyboard(key, x, y);
+}
+
+static void glutSpecialKeyboardUpCallback(int key, int x, int y)
+{
+	gDemoApplication->specialKeyboardUp(key, x, y);
+}
+
+
+static void glutReshapeCallback(int w, int h)
+{
+	gDemoApplication->reshape(w, h);
+}
+
+static void glutMoveAndDisplayCallback()
+{
+	gDemoApplication->moveAndDisplay();
+}
+
+static void glutMouseFuncCallback(int button, int state, int x, int y)
+{
+	gDemoApplication->mouseFunc(button, state, x, y);
+}
+
+
+static void	glutMotionFuncCallback(int x, int y)
+{
+	gDemoApplication->mouseMotionFunc(x, y);
+}
+
+
+static void glutDisplayCallback(void)
+{
+	gDemoApplication->displayCallback();
+}
+
+
+int glutmain(int argc, char **argv, int width, int height, const char* title, DemoApplication* demoApp) {
+
+	gDemoApplication = demoApp;
+
+	glutInit(&argc, argv);
+	glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH | GLUT_STENCIL);
+	glutInitWindowPosition(width / 2, height / 2);
+	glutInitWindowSize(width, height);
+	glutCreateWindow(title);
+#ifdef BT_USE_FREEGLUT
+	glutSetOption(GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_GLUTMAINLOOP_RETURNS);
+#endif
+
+	gDemoApplication->myinit();
+
+	glutKeyboardFunc(glutKeyboardCallback);
+	glutKeyboardUpFunc(glutKeyboardUpCallback);
+	glutSpecialFunc(glutSpecialKeyboardCallback);
+	glutSpecialUpFunc(glutSpecialKeyboardUpCallback);
+
+	glutReshapeFunc(glutReshapeCallback);
+	//createMenu();
+	glutIdleFunc(glutMoveAndDisplayCallback);
+	glutMouseFunc(glutMouseFuncCallback);
+	glutPassiveMotionFunc(glutMotionFuncCallback);
+	glutMotionFunc(glutMotionFuncCallback);
+	glutDisplayFunc(glutDisplayCallback);
+
+	glutMoveAndDisplayCallback();
+
+	//enable vsync to avoid tearing on Apple (todo: for Windows)
+
+#if defined(__APPLE__) && !defined (VMDMESA)
+	int swap_interval = 1;
+	CGLContextObj cgl_context = CGLGetCurrentContext();
+	CGLSetParameter(cgl_context, kCGLCPSwapInterval, &swap_interval);
+#endif
+
+
+
+	glutMainLoop();
+	return 0;
+}
+#endif
+
+
+
+
+
 int main(int argc,char* argv[])
 {
 	VirtualRobot::RuntimeEnvironment::considerKey("robot");

SimDynamics/examples/BulletDebugViewerGlut/CMakeLists.txt

@@ -6,6 +6,8 @@ CMAKE_POLICY(VERSION 2.6)
 
 INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
 
+include_directories(${GLUT_INCLUDE_DIR})
+#message("GLUT_INCLUDE_DIR:${GLUT_INCLUDE_DIR}")
 # create the executable
 SimoxApplication(${PROJECT_NAME} "BulletDebugViewerGlut.cpp" "")
 TARGET_LINK_LIBRARIES(${PROJECT_NAME} SimDynamics)